Authentic desire is not selfish. It is endlessly empowering. To give value, you must create value. To create value, you must know what value is. The way to know what has value is to know what you desire.
What is it about what you want that causes you to want it? What is it about who you are that causes you to want it? What is it about the whole of everything that is, that sparks within you a particular desire?
If desire seems to pull you away from who you are, then you are seeing not desire itself but only a superficial concept of desire. Look deeper and find the authentic desire that resonates with your true being.
You are miraculously aware, capable, flexible and effective. Why is that? What purpose does all that powerful ability exist to serve and to fulfill? The answer is found in what you most sincerely desire.