Paul frequently wrote that we should serve one another and give preference to others:
Galatians 5:13 (ESV) For you were called to freedom, brothers. Only do not use your freedom as an opportunity for the flesh, but through love serve one another.
Philippians 2:3 (NKJV) Let nothing be done through selfish ambition or conceit, but in lowliness of mind let each esteem others better than himself.
Christ is our example for how we should live in this life.
Matthew 20:27-28 (NKJV) And whoever desires to be first among you, let him be your slave-- just as the Son of Man did not come to be served, but to serve, and to give His life a ransom for many."
Philippians 2:5-8 (NKJV)
Let this mind be in you which was also in Christ Jesus, who, being in the form of God, did not consider it robbery to be equal with God, but made Himself of no reputation, taking the form of a bondservant, and coming in the likeness of men. And being found in appearance as a man, He humbled Himself and became obedient to the point of death, even the death of the cross.
If our Lord and Savior Jesus Christ could leave Heaven and come to earth to provide us an example and to die for our sins; what is it for us to give our lives in service to others during our time on this Earth.