The exhortation of Hebrews 10:22 is, “let us draw near with a sincere heart in full assurance of faith, having our hearts sprinkled clean from an evil conscience and our bodies washed with pure water.”
When Christians draw near to God, He draws near unto them. James wrote, “Draw near to God and He will draw near to you. Cleanse your hands, you sinners; and purify your hearts, you double-minded.” (Jas. 4:8).
When we draw near to God we must do so with a sincere heart. Literally a true heart. We are ever surrounded by people who are two faced, fake or phony. We must approach God with sincerity of heart, in truth. Set all that you use to protect yourself aside and come to God, draw near to Him completely openly and honestly in full assurance of faith.
Equally, approaching God in a manner unfit is as bad as approaching Him with a false pretense, without faith. We must be those who internally accept and obey His will even when it requires an outward submission, namely, baptism.
If we cannot submit to the act of being baptized for the forgiveness of our sins (Acts 2:38), then how can we live lives of total submission in any area?