I'd rather wash dishes and sweep the floor in deep sensual union with the Divine than rule the world from a place of separation.

Given the choice I'd rather wash dishes and sweep the floor in deep  sensual union with the Divine than rule the world from a place of separation.

 Everything that exists, exists right now and is available to me, but only to the degree that I am available to it. And I am available to it only to the extent that I Allow it.

But, how to do it? What does it mean to make yourself available and what does it feel like? There is nothing you can do to make this happen. To put it another way; Learning to Do Nothing is what it takes.
Doing Nothing ("Wu Wei" in Chinese). Making yourself available to the Now is the practice of constantly letting go of everything we do that removes us from the realization that we are already here. It involves the practice of Zen Master Seung Sahn’s, "Don't Know Mind," the constant practice of making non-sense.
This Doing has nothing to do with thinking; it is a feeling practice.

What it feels like is sensual and 'melty' to the point of being erotic.

It is a melting into God, nature, and the universe. It's a deep and profound letting go, as if I were allowing myself to fall backwards off a towering cliff without the slightest concern for my safety, knowing that I will be caught and sensually enveloped by the very essence of Love; yet still feeling the thrill of the plunge.

It's better than sex, and sex is pretty damn good.... it is sex in the sense of that most satisfying of sexual encounters: a melting into and a true Union with the Other. Little wonder then, that once experienced, it becomes a lifelong pursuit. What else is there, especially when this is a state that can be applied to, and enhances the quality of, every other activity? 
This is what you have to look forward to by practicing T'ai Chi. It is the highest form of T'ai Chi practice; Melty Merging with Life. Yummmm!