Man is preprogrammed for greatness. Within him is a powerful instinct that only desires that which is proper. If man follows that side of his inner nature, he is pulled towards perfection.
And so, following the Torah’s ways isn’t something that is imposed from the outside — it is built into our very soul. We have all of the instincts to follow it. If we have veered off, then we have rebelled against our very nature. We have subverted the pull to greatness that dwells within our hearts.