Let us therefore be zealous and exert ourselves and strive diligently to enter that rest [of God, to know and experience it for ourselves], that no one may fall or perish by the same kind of unbelief and disobedience [into which those in the wilderness fell]. —Hebrews 4:11
If you read the entire fourth chapter of the book of Hebrews, you will find it speaking about a Sabbath rest that is available to God’s people. Under the Old Covenant, the Sabbath was observed as a day of rest. Under the New Covenant, this Sabbath rest spoken of is a spiritual place of rest. It is the privilege of every believer to refuse to worry or have anxiety. As a believer, you can enter the rest of God.
The only way to enter that rest is through believing. You will forfeit it through unbelief and disobedience. Unbelief will keep you in the wilderness, but Jesus has provided a permanent place of rest that can be inhabited exclusively through living by faith.