Psalm 34:11 Come, ye children, hearken unto me: I will teach you the fear of the Lord.
God gives us a gracious invitation to listen (hearken) to Him. Come unto Me! Listen to Me! Listening involves hearing, receiving, believing, and then obeying the Word of Law and Gospel. The Law gives the instruction and guidance regarding what to do and how to live. The Gospel gives forgiveness for failure and the power (the motivation, desire, and ability) to actually do it.
If we listen, then God will teach us the fear of the Lord. Fear includes believing the Word and living accordingly. “We fear and love God so that we may….” Fear (believing) is the result of hearing the Gospel. The Spirit through the gospel teaches us to will and to do His good pleasure. We do not always see it, but it is true that life is different and better when we hearken. For this reason we attend church weekly and attend to God daily.