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A radical concept in New Testament teaching is that followers of Jesus have been ADOPTED–placed into God’s family–by the Holy Spirit, and that they have been given a spirit of sonship. In Jesus you have been given both intimacy with God the Father, and you have been given authority as a co-heir with Christ. These are gospel truths you can be reminded of each day, to put your heart at rest, to seek God with assurance, and to live for Christ as one who has been forgiven. God does not save his children only to hold a big stick over their heads or wag his finger at them when they mess up. No, he gathers his children and welcomes them onto his lap. We can call him “Daddy” when we pray, approaching him with boldness and confidence, in childlike trust. This true identity of the believer in Christ is what drives out fear and performance-driven living.
Romans 8:15–17 ESV
 For you did not receive the spirit of slavery to fall back into fear, but you have received the Spirit of adoption as sons, by whom we cry, “Abba! Father!”  The Spirit himself bears witness with our spirit that we are children of God,  and if children, then heirs—heirs of God and fellow heirs with Christ, provided we suffer with him in order that we may also be glorified with him.