How can I get closer to God?

I have grown up in church my entire life. My grandpa is the pastor at my church. I am involved in the church and listen to gospel music. But I recently realized that I am not truly connected with him. Since I was raised like this I have never truly made an extreme effort for him. I really want to do so. I want to completely live my life for him and give myself up to him. I don't know how. I have prayed. I need prayers and any other words of encouragement and/or tips.
How can I get closer to God?
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