David Wilkerson emphasizes the importance of fully trusting God with every aspect of our lives, including our health, family, and future. He reflects on Isaiah's message that if we wait on the Lord and cry out to Him, He will guide us and provide for our needs. Wilkerson shares his personal struggle of trusting God with material concerns while neglecting his eternal well-being, realizing that God desires our complete trust. He encourages believers to bring all their worries to God, assuring them that true faith results in peace and rest. Ultimately, God wants it all from us, and in return, He promises to lead us on the right path.