This will develop from an understanding of the Basic Principles. Understanding these small principles will grow into understanding greater principles. This is Nam - enlightenment. Only through your sincerity, respect, and humility will you gain an understanding of the principles. Cleaning and bowing in the dojang are essential to achieving Nam .
Many martial artists are ignorant to the mental and spiritual benefits of their training.
It is not entirely their fault, because it is likely their teachers did not understand them either. Some schools claim they will teach you a thousand techniques. There are no thousand techniques. There are Basic Principles that apply in every case. Each case should be treated on its merit, in whatever circumstances exist.