Deriving Pleasure From Mitzvos

Focusing on the Talmudic principle of מצוות לאו ליהנות ניתנו  - the pleasure derived from doing a mitzvah does not constitute as pleasure. Hence, one may even fulfill his obligation with an object that is אסור בהנאה. It also discusses some of the general aspects of this concept, such as why the actual kiyum hamitzvah is not considered pleasure, whether this rule applies to mitzvos that are m’drababnan as well, and if it one should refrain from doing a mitzvah with איסורי הנאה – li’chatchila.