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The basic meaning of khushu` is the softness of the heart, its being gentle, still, submissive, broken, and yearning. When the heart is humble, so too is the hearing, seeing, head, and face; indeed all the limbs and their actions are humbled, even speech.
The Book of Allah, Mighty and Magnificent, shows that whoever finds what Allah loves hard to bear is blameworthy in the religion and receives Allahs displeasure. Censure and displeasure only come ones way when an obligation is left or a prohibition is committed. Therefore if those who do not have khushu` are censured, its obligation is proven.