David Wilkerson emphasizes that true followers of Christ often misunderstand God's will as a burdensome obligation rather than a glorious opportunity. He encourages believers to embrace God's will with joy, as it is meant for all, not just the spiritually elite. Wilkerson highlights that knowing and accepting God's perfect will leads to fulfillment and joy, as exemplified by the early apostles and Jesus himself, who always sought to do the Father's will. By embracing God's will, believers can experience a deeper relationship with Jesus and witness His presence in their lives. Ultimately, God's will is a source of hope and completeness for every believer.