We as human persons are made with infinite desires that only God can fulfill. But because we’re fallen, we tend to live at the level of our superficial desires—desires for comfort, fun, fame, wealth, pleasure, success. These desires are not bad, but the rosary helps us be more aware of the soul’s deepest desires, which are for God. As Saint Catherine of Siena taught, the greatest gift we can give to God in prayer is not the finite work of saying the words but our “infinitely desirous love” for God that is expressed in those words and that is being drawn out of our souls in prayer.
— from the book Praying the Rosary Like Never Before: Encounter the Wonder of Heaven and Earth