"I do want to do your will."
Too many of us are paranoid about the word law and find it hard to hear a scripture like this. But we must recognize that the goal of the New Covenant of grace and Spirit is that God's law is written on our hearts, not on tablets of stone. Jeremiah prophesied of such a day. The focus, desiring to do God's will, a passion to love the things our Father loves and despise the things he despises.
I desire to do your will, O my God; your law is within my heart.