The connection between the Torah and a good life

peace.
In my understanding, living according to the Torah is also, according to most, a better life. It’s simpler when it comes to being strict between a person and his fellow man, but it’s also true between a person and a place: a person who lives life thinking about what’s beyond, a person who accustoms himself to delaying gratification, a person who observes the rules of modesty – his life will usually be happier (I hope you agree with me, and if not, I’d be happy to explain).
(Oh, one could explain reward and punishment in this world more broadly, but that doesn’t matter to the actual question that follows)
Assuming that is the case, what is the explanation for the connection between the Torah commandment and these positive results? Did God create nature so that it would be compatible with the Torah commandment? Or did He determine the Torah commandments so that they would be compatible with nature? Another possibility?
 
thanks