In this 2009 article from Conversations Journal 7.2, Dallas Willard explores the essence of true service.
To follow Jesus implies that we enter into a way of life that is given character and shape and direction by the One who calls us. To follow Jesus means picking up rhythms and ways of doing things that are often unsaid but always derivative from Jesus formed by the influence of Jesus. To follow Jesus means that we cannot separate what Jesus is saying from what Jesus is doing and the way he is doing it.