And He led them out as far as Bethany, and He lifted up His hands and blessed them. While He was blessing them, He parted from them and was carried up into heaven. And they, after worshiping Him, returned to Jerusalem with great joy, and were continually in the temple praising God. (Luke 24: 50-53)

This posted scripture says volumes.
Every time after worshiping The Lord, He fills us to the point of overflowing joy, an indescribable power and love to share along with a thankfulness regarding all things. This is the crux regarding steppers; To worship the Lord and be empowered by The Holy Spirit or to simply seek self-enlightenment through the use of man-made steps:
Psa 95:6 Oh come, let us worship and bow down; let us kneel before the LORD, our Maker!