The primary law presented in today's first reading is to return to God with all your heart and all your soul. This is expanded upon in today's Gospel to include loving your neighbor as yourself. The first reading states that one does not need to look far for God, His law, or His love, but that they are patiently waiting near you, ready for your acknowledgement. In the Gospel, Jesus qualifies what is meant by love your neighbor by using the story of the Good Samaritan.
Following God's law means not turning a blind eye to the suffering of others. It means not being focused on our own desires. It means not being so filled with self-righteousness and religion that we fail to deal with the needs of those less fortunate than us. In Jesus' parable, it is the Samaritan--a person at that time associated with godlessness--who follows God's law and demonstrates God's love while holy and learned men ignored them both by walking away from the man left for dead.
Obedience to God brings freedom. Freedom to us, and freedom to those we help.