“Let us then with confidence draw near to the throne of grace, that we may receive mercy and find grace to help in time of need.”
“Let us draw near to Him with a sincere heart in full assurance of faith, having our hearts sprinkled clean from an evil conscience and our body washed with pure water."
“Without faith it is impossible to please Him, for he who draws near to God must believe that He is, and that He is a rewarder of those who seek Him.”
“He is able to save forever those who draw near to God through Him, since He always lives to make intercession for them.”
We can see here in the Scriptures above, that we come to His throne of grace to find all the help we need.
That we come to Him with full confidence knowing that He will reward us with Himself.
The command that we are given in Hebrews 10:19-22 is to "draw near to God".
Our aim is to have fellowship with Him, that we do not settle for a Christian life that's distant from God, but a near and close relationship, which we will gain when we draw near to Him.
This “drawing near” is not a physical act.
It's not about attending church most weekends or walking to the altar at the front, but rather, drawing near is an act of the heart.
The way we can “draw near” is through righteousness.
“Cleanse your hands, you sinners, and purify your hearts, you double-minded”
Certainly, God will not draw near in intimacy with the unrighteous, but with those who have been cleansed by the blood of Jesus Christ and have received His righteousness at the cross. (2 Corinthians 5:21)
God is commanding us to come, to approach Him, to draw near to Him.