G-d wanted to be metiv, so He needed an "other", which is the soul. The aim is to build an intimate relationship with G-d, where you experience an actual feeling of love. There is tremendous pleasure in this feeling, which is referred to as dvekus or cleaving. Everyone is capable of achieving dvekus with G-d. Through developing this intense love, the soul is capable of becoming aware of G-d not only in thought but in feeling, in hargasha.