David Wilkerson emphasizes that destiny is God's ordained purpose for each individual, illustrated through the life of Saul, who was chosen by God to lead Israel but ultimately failed to fulfill his calling due to seeking human approval and making compromises. Despite being transformed and empowered by the Holy Spirit, Saul's desire for acceptance led him away from God's plan, resulting in shame and ruin. Wilkerson encourages believers to prioritize their relationship with Jesus, as a deep knowledge of Him and acceptance of His love is essential for walking in one's true destiny.