There is a direct road to God that does not require you to be a mystic or a saint. Rabbi Schneur Zalman of Liadi calls it the attribute of our patriarch Jacob: the path of compassion.
The practice begins with a meditation. Think about the divine spark within your soul. It descended from the Ein Sof (אין סוף), the source of all life, the Infinite who pervades and transcends all worlds. And now it is clothed in a "serpent's skin," this gross material body, at the greatest possible distance from God's light. Then recall all your unworthy actions, words, and thoughts since the day you were born, each one binding the King in chains, as the Song of Songs puts it: "The King is held captive by the tresses" (Song of Songs 7:6).
This meditation is not meant to produce guilt. It is meant to produce compassion, rachamim (רחמים). Not self-pity, but aching compassion for the Shechinah (שכינה), the Divine Presence that went into exile alongside your soul.
The Tanya reads the story of Jacob and Rachel as a cosmic allegory. "Jacob kissed Rachel and lifted up his voice and wept" (Genesis 29:11). Rachel represents Knesset Yisrael (כנסת ישראל), the collective soul of all Israel. Jacob, in his supernal attribute of Mercy, arouses compassion for her suffering in exile. His weeping draws down abundant mercy from the "Father of Mercies" above.
The "kiss" between Jacob and Rachel is the union of human speech with divine speech, your words of Torah meeting God's words of halacha (Jewish religious law)h. The embrace is the act of charity and lovingkindness. "Chesed (Lovingkindness) is the right arm" of the divine, says the Zohar. When you give charity, you are literally embracing God.
This path is open to everyone. You do not need to achieve mystical rapture. You need only to feel the exile, and to act.