The Bible teaching to walk in God’s ways means to please God. To fear God is to care what God thinks and whether He approves of our behavior. In doing so, we avoid discipline for disobedience.

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Deuteronomy 8:2-8 King James Version (KJV)

²And thou shalt remember all the way which the Lord thy God led thee these forty years in the wilderness, to humble thee, and to prove thee, to know what was in thine heart, whether thou wouldest keep his commandments, or no. ³And he humbled thee, and suffered thee to hunger, and fed thee with manna, which thou knewest not, neither did thy fathers know; that he might make thee know that man doth not live by bread only, but by every word that proceedeth out of the mouth of the Lord doth man live. ⁴Thy raiment waxed not old upon thee, neither did thy foot swell, these forty years. ⁵Thou shalt also consider in thine heart, that, as a man chasteneth his son, so the Lord thy God chasteneth thee. ⁶Therefore thou shalt keep the commandments of the Lord thy God, to walk in his ways, and to fear him. ⁷For the Lord thy God bringeth thee into a good land, a land of brooks of water, of fountains and depths that spring out of valleys and hills; ⁸A land of wheat, and barley, and vines, and fig trees, and pomegranates; a land of oil olive, and honey;