When you start with fear, you will reach obedience to God and compliance with His commandments.
At least you will fear the punishment, the awful Day of Judgment, and the eternal suffering. When you obey the commandments, you will find pleasure and benefit for your life. See how David the Prophet found such pleasure and sang praises for God's commandments and law: "The testimony of the Lord is sure, making wise the simple; the statutes of the Lord are right, rejoicing the heart; the commandment of the Lord is pure, enlightening the eyes ……… more to be desired are they than gold, yea, than much fine gold; sweeter also than honey and the honeycomb." (Ps 19: 7- 10) And also, "Remember the word to Your servant, upon which You have caused me to hope. This is my comfort in my affliction," "I will keep Your precepts with my whole heart … I delight in Your law," "I have seen the consummation of all perfection, but Your commandment is exceedingly broad. Oh, how I love Your law! It is my meditation all the day." (Ps 119: 49, 50, 69, 96)