How do we know that God's commandments are meant to be internalized?

The teaching in Psalm 78, alongside other scriptural references, illustrates that mere outward compliance to God's law is insufficient. Instead, God desires that His commandments be inscribed on the hearts of His people, motivating them to desire holiness and obedience. Jeremiah 31:33 speaks of a new covenant where God will write His law upon their hearts, indicating that true obedience arises from an inward transformation by the Holy Spirit. This understanding underscores that faith and love for God and His law come from a heart renewed by grace.