This connection and relationship with God occur primordially through the study of the Torah, the fulfillment of His Commandments, and the offerings (“sacrifices”) we elevate to Him in order to be close to Him.
Let's be mindful that every level of consciousness must be an empty vessel to be filled with God's ways and attributes, and never forget that these do not cohabit with anything different from them.
Our Sages teach that the peace offering is not intended to atone as the other offerings, but exclusively for the enjoyment and delight to be close to the Creator. What is peaceful about it is the fact that the person who brings this offering, the priest and God share together the offering.
This awareness safeguards our freedom from any entanglement in ego's fantasies and illusions, and in this freedom we celebrate His Love as our sustenance and the Essence from which He created us.