We keep the commandments for both, love of God, and because we fear the punishment of hell. The Act of contrition even says it;
O My God, I am heartily sorry for having offended thee.
I detest all my sins, because I dread the loss of heaven and the pains of hell.
But most of all, because I offend thee my God, who are all good and deserving of all of my love.
Allso, following the 10 commandments is what helps us to live free.
"True freedom, isn’t necessarily the privilege of having the choice between good and evil, but having the ability to chose only good. For now one actually chooses evil for themselves.’ Anonymous.
When a person steals, he doesn’t do it because he knows that he’s hurting the other person, and that if he’s caught, he’ll have to spend a portion of his life in prison, but rather, he sees the good for himself, in having the item he desires. Its the false good that he sees as a benefit, not the evil and hence, gives in to a false good.
Jim