Whenever I think on this issue, I'm reminded of that famous picture of that precious little boy, John Kennedy Jr., playing under his father; then President John F. Kennedy's desk.
The privileges of a child who would one day be a son, may they both be, hopefully resting in in peace, in the Son...
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We who are in Christ are said to be "no more children, but sons."
Our privilege now that of "Abba, Father."
"God" a bit too formal to Him, this side of His Son's sacrifice on our behalf.
Jacob had been allowed to go toe to toe with the Father, as had Moses, and David and Paul. Such had been their relationship with Him. Only one of those, after the Son's sacrifice - all of them, on that basis, nonetheless.
The privilege of sons.
Galatians 4:
1. Now I say, That the heir, as long as he is a child, differeth nothing from a servant, though he be lord of all;
2. But is under tutors and governors until the time appointed of the father.
3. Even so we, when we were children, were in bondage under the elements of the world:
4. But when the fulness of the time was come, God sent forth his Son, made of a woman, made under the law,
5. To redeem them that were under the law, that we might receive the adoption of sons.
6. And because ye are sons, God hath sent forth the Spirit of his Son into your hearts, crying, Abba, Father.
7. Wherefore thou art no more a servant, but a son; and if a son, then an heir of God through Christ.
Like my cousin once told her dad, who was in the habit of putting on this big show of "Oh G'd, this," that, the other....
In her simple way, she simply said, "Prayer is just talking with our Father, dad, no need to complicate it. He just wants us to come to Him and talk with Him in His Son..."
Her dad, a father, simply smiled, as his daughter talked with him, as her father, about the things that offspring and their fathers talk about...
"...and if a son, then an heir of God through Christ."