What is the context of Chesterton's quote, "When we bind our hearts, we free our hands"?

In anticipation of watching the new [Ragamuffin](http://www.imdb.com/title/tt2412568/) movie, I'm watching [an interview with Rich Mullins](https://www.youtube.com/watch?v=zwuN03zyJ04&feature=em-subs_digest-wl) . Here's the [transcript](http://www.kidbrothers.net/interviews/heart-to-heart.html) . During the interview, he is seeking to explain what it means by "centering yourself on 'Love everybody'" in contrast to a certain rigidity when it comes to holiness. At 22:30, Mullins quotes [G. K. Chesterton](https://en.wikipedia.org/wiki/G._K._Chesterton) , who says, "When we bind our hearts, we free our hands." I had never heard this quote before, and I'm not 100% sure I get what is being said. Where does this quote come from, and what did Chesterton mean by it?