Ihsan has different levels, the highest of which is our worshipping Allah in the best of forms. This can be obtained by duly obeying Him in every act we perform, whether in secret or in public. This is well described by our Prophet Muhammad pbuh when he was asked by Jibreel (Gibrael). He said, "Ihsan is to worship Allah as if you see Him, and if you cannot see Him, then indeed Allah sees you."
So each time an individual is by himself or feels tempted to disobey Allah, he should turn away from that and remember Allah, the Almighty, is constantly watching over him. Allah says, "Indeed, those who fear Allah - when an impulse touches them from Satan, they remember [Him] and at once they have insight." (Al Aaraf: 201).