The Sefer
Chareidim says that when you do a mitzva you must do it B'Shleimus.
There are 17 requirements to doing a mitzva with perfection. When you
do this the mitzva will go up before Hashem and it will be received
with Ratzon. Only then will we avoid embarrassment in the world to
come.
It is written that for each mitzva when you come to
Shamayim there will be a Bais Din that determines if you have done the
mitzva. Each mitzva though, will have many Batei Din, each one for a
specific aspect of that mitzva. When they ask you if you did a mitzva
and you did it out of fear but not out of love for example, the Bais
Din of Ahava will determine that you have not performed that mitzva.
This is what will happen in each one of the 17 Batei Dinim.
Read the list an ask yourself, is there any mitzva that I have really done B'Shleimus? Click here to see full list.