Discipline is often perceived as something that contradicts joy. I feel differently. Discipline to me is about deciding things upfront and having a plan to stick to once circumstances or timing requires the plan to spring into action. This frees the mind of lots of wondering and wandering and allows you to focus much more on the moment.
Once you accept the limited capacity of your all too human brain, this becomes a very handy tool to get shit done. Why would you waste precious brain-cycles on something (a) more than once and (b) forced by circumstance rather than at a time of your choosing? And then sometimes [there’s joy in repetition.](https://www.youtube.com/watch?v=K_DH-3K09hc&feature=youtu.be&t=6m11s)