How can we serve God with a perfect heart?

In I Chronicles‬ ‭28‬:‭9‬ ‭NKJV‬‬, David was advising his son Solomon on how to serve God and he said “And Solomon, my son, learn to know the God of your ancestors intimately. Worship and serve him with your whole heart and a willing mind. For the Lord sees every heart and knows every plan and thought. If you seek him, you will find him. But if you forsake him, he will reject you forever.”