Two Wives and Two Maidservants
Every person has two maidservants, the animal soul and the yetzer hara, and when he sanctifies himself, even they help him serve Hashem.
On the night Yaakov crossed the Yabbok, the Torah says, he took his two wives and his two maidservants and his eleven children. The Noam Elimelech teaches that every person has two wives: the wife Hashem commanded him to marry, and his holy neshamah, whose whole longing is to rise to its root. He also has two maidservants: the animal soul and the yetzer hara, which hold him back from serving the Creator. But when a person sanctifies and purifies himself and breaks his physical cravings, everything comes to help him. The yetzer hara itself turns to good, so that he serves Hashem with both inclinations. The animal soul helps him too, for he makes even what is permitted holy, in his eating, his drinking and all his movements. That, says the Rebbe, is how Yaakov took his wives and his maidservants with him and raised everything to holiness.
Source: Noam Elimelech, Bereishis, Vayishlach (on Bereishis 32:23)
The maidservants were not left behind on the far bank; Yaakov brought them across. Your physical needs can come with you into avodas Hashem too. Choose one ordinary act you do every day, such as breakfast, a cup of coffee or getting dressed. Before you begin it tomorrow, say a brachah slowly or think one sentence about why you need the strength. Do it for a week, and watch an everyday moment become part of your service.