
At various times out of love or obligation we make active choices to serve our parents, teachers, spouses, children, employers, employees, country, concepts, ideals, or God.
To serve is such an integral part of our reality that "serve" when defined as a verb is used in 31 different ways (Dictionary.com). "Serve" used as a verb implies action or work. Accepting that we reap what we sow, our service has resultant/karmic reaction which plays out over time. Knowing that our actions can render positive or negative effects within our sphere of influence, we may need to self-check the quality of our motivations, actions, knowing that seeds of reactions being planted by our service. The quality of our actions, added to who and what we serve, surely have high-level impact on the quality of our life both now and in the future.
"You may be an ambassador to England or France
You may like to gamble, you might like to dance
You may be the heavyweight champion of the world
You may be a socialite with a long string of pearls.
You're gonna have to serve somebody,
It may be the devil or it may be the Lord
But you're gonna have to serve somebody."

As limited beings, we only have so much service to give. We cannot please all the people all the time, and have valid personal needs to be serviced as well. We mostly all get through each day using whatever formula we may have inherited, modified or originated in hopes of getting the best results from the service we constantly render. As to methods of serving, there are various material and spiritual models to consider.
A major game changer is to understand that whatever skill-set or ability we now posses can also be used to serve the Supreme Lord in a simple and loving way, with soul-satisfying results. The shift happens when realizing serving for only material gain has limited returns, while serving with spiritual motive to please God, holds an intangible but palpable quality of satisfaction as revealed from the Lord from within the heart.
The Almighty does not require our service, but when we willingly serve the Supreme's agenda, which is composed of increasing love personally and universally, our own spiritual purpose realized.
By participating in the symphony of spirit as orchestrated by the Lord, we share God's satisfaction. When God is pleased with our service, we automatically feel the spiritual connection and pleasure produced, because we are part and parcel of the Lord. A simple example follows of our hand in service to our whole body wherein the hand and the whole body shares in nourishment.

Service resulting in special spiritual satisfaction comes when realizing we are spiritual beings already connected to God as hands are already connected to the body. We are meant reach out to God through service, and be happily sustained by such efforts. By having a loving and willing service attitude towards the Lord, we find God also lovingly reaches back to us with abundant spiritual love, satisfaction and material sustenance in reciprocation to our efforts, and even more.
Service to God can take many forms. It can be serving the all-pervasive Lord by singing sacred prayers, hymns or mantras, or in quiet prayer/meditation. It can be offering food with prayers of thanks before eating. It can be holding gatherings to sing and share the glory of the Lord. It can be using one's talents and resources to build a building to worship in, for one's particular faith. It can be understanding that almost whatever work and service we now do, can mindfully be connected to the service of God, as mindful loving offering to the Supreme. Our connection to the Supreme spirit manifests through intentional dedication to serving God's purpose expanding love and of reciprocating spiritual love as part of the life we already lead.
God is open for service. If our hearts and minds are equally as open, we can easily add Him to the list of people or ideals we already attempt to serve, with supremely liberating and sublime results.