Are there any seforim that explain the reasons why we do halochos. I find halocho very dry and want to find the pnimius in understanding them.
I recommend Peninei Halakha, by R' Eliezer Melamed, for this purpose. R' Melamed's detailed discussion of the practical details of each section of Halacha is integrated with a discussion of the spiritual roots of those laws, including both Torah and Rabbinic laws.
For examples of his extensive treatment of the meanings behind Halacha, see;
It's not an easy read, but you would be hard pressed to find a book that addresses this issue more thoroughly than Shaar HaMitzvot by Rabbi Chaim Vital.