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Noone can drive you to do anything. We're all responsible for our own lives and our own choices. Humans will be humans.

Just go there physically, Gudwarras are open to all and you dont need an appointment to go and do seva. Just walk into the kitchen.

If youre worried about the customs there, go and ask when youre there.

Typically people cover their heads and the pastors there go ape if you dont for some reason- although it really should be a choice.

 So may be a good idea to cover your head and take your shoes off when u get there. It actually helps with relaxing and meditating.