if we're not under the law, why does God still give us commands?

"... the gospel changes my view of God's commandments, in that it helps me to see the heart of the Person from whom those commandments come. When I begin my train of thought with the gospel, I realize that if God loved me enough to sacrifice His Son's life for me, then He must be guided by that same love when He speaks His commandments to me. Viewing God's commands and prohibitions in this light, I can see them for what they really are: friendly signposts from a heavenly Father who is seeking to love me through each directive, so that I might experience His very fullness forever."

-Milton Vincent, A Gospel Primer, p.18