The sermon encourages believers to fear God, not in a way that leads to dread, but in awe and reverence, particularly through experiencing His presence and obeying His Word. It emphasizes the importance of trembling before God's holiness and responding immediately to His commands, even when the benefits aren't immediately clear. Ultimately, the sermon calls for a deep, enduring relationship with God, marked by obedience and a clean, righteous fear that transforms our daily walk with Him.