The Lord invites us to be people who repent. As our relationship with Him grows, we're invited to continue to practice repentance every time we become conscious of sin or unbelief in our lives. It isn't dreadful to repent, it's joyful because we know our Lord loves us and is eager to welcome us into His presence. He doesn't hate us when we make mistakes. He loves us and invites us to return to Him so we can experience His cleansing.
I'm guessing that each of us probably have a list of people in this world that we would like to get to know. I'm sure that list includes plenty of people that we know about, but there's a big difference between knowing about someone and knowing them personally. This is also true when it comes to God. We can merely know about Him, or we can go deeper and come to know Him personally.