The Messenger of Allah (sal Allahu alaihi wa sallam) said: “(Ihsan is) to worship Allah as though you see Him, and if you cannot (achieve this state of devotion), then (know that) Allah sees you.” [Sahih Bukhari]
Angel Jibreel (alaihis salam) came to the Prophet (sal Allahu alaihi wa sallam) while he was sitting with his Companions and asked him about Eeman (faith) and Ihsan (the perfection of faith). The above mentioned Hadith is the answer that the Prophet (sal Allahu alaihi wa sallam) gave to Jibreel (alaihis salam) regarding what Ihsan is.
A young man named Yusuf came with his friends to visit Hatem-i-Asad, a respected scholar. During his conversation he asked Hatem, “How do you prepare for prayer?”
Hatem replied, “When I am to start my prayer I imagine Paradise on my right side and Hell on my left. I see in my mind’s eye that Siraat (the bridge which the righteous will pass over and from which the unrighteous will fall into Hell) is under my feet and the Meezaan (the Divine Balance on which people’s sins and rewards will be measured on the Day of Judgement) is right in front of me. I consider angel of Death waiting at my back to take my soul right after I finish the prayer. Moreover, though I cannot see Him, I feel Allah Almighty watch my body and heart at every instant.”
Yusuf was completely taken aback and asked, “How long have you been offering your prayer in the way that you have described to us?”
“For twenty years,” replied Hatem. [Fariduddin Ataar, Tazkiratu’l Auliyaa]