David Wilkerson emphasizes that through God's promise of redemption, we are enabled to serve Him without fear, living in holiness and righteousness. This promise was fulfilled in Jesus, who triumphed over darkness at the cross, allowing us to experience a life free from fear through perfect love. Wilkerson explains that perfect love, which drives out fear, begins with unconditional love for one another, as commanded by God. He highlights that loving others involves more than forgiveness; it requires fellowship, esteem, and availability in times of need. Ultimately, aligning our love with God's Word is essential for living fearlessly.