God as a God of love and grace redeemed Israel from Egypt.
God as a God of holiness and justice requires His redeemed people to reach the highest moral standards with the giving of the law.
Now the God of glory and beauty establishes a system of worship for his covenant people.

Main point: God refuses to go with the Israelites because of their sins, but he still meets with Moses outside the camp at the Tent of Meeting, where God talks to Moses like a friend. In true worship, we need to commit to God by learning from his ways and seeking his presence.
1) God refuses to go with the Israelites
2) The Tent of Meeting
3) Friends with God