1Peter 5:2-4 Be shepherds of God's flock that is under your care, serving as overseers- not because you must, but because you are willing, as God wants you to be; not greedy for money, but eager to serve; not lording it over those entrusted to you, but being examples to the flock. And when the Chief Shepherd appears, you will receive the crown of glory that will never fade away.
The first step in serving the Lord is deciding why you want to serve. If you want the accolades of the people around you, you will receive your reward here and now. If you want to serve to pay for your salvation, you have not understood the grace of the Lord. You can't pay for your salvation. The Lord has already paid the price for our sins, we could never pay that price on our own efforts.
If you want to serve the Lord as an act of worship and gratitude, you are on the right path. The Lord wants a willing heart and an open mind. He desires us to serve Him with joy and humility. Our attitude as we serve indicates to those around us the truth of why we serve. If we complain that our duties are beneath us, we are setting ourselves above our Lord Who did not count it beneath Him to wash the dirty feet of His disciples. He considered it an honor to serve His Father even to a death on the cross. How can we, His children and His friends, be any less willing to serve others as He has served us. Even now He intercedes for us to His Father, honoring us with His love and compassion.