Our Scripture reading today is Hebrews 10:19-20.
Verse 19, "Having therefore, brethren, boldness to enter into the holiest by the blood of Jesus,"
After the Lord Jesus Christ shed His precious blood for sinners like us, we were given direct access to the throne room of God.  We read in the Matthew 27:51, "And, behold, the veil of the temple was rent in twain from the top to the bottom; and the earth did quake, and the rocks rent;"  This event took place at the crucifixion of Jesus Christ.  No longer would an earthly high priest be needed to communicate with God the Father for the forgiveness of the people's sins.  Jesus Christ made it possible for those who are born again of the Spirit to have direct access to the holiest by His shed blood.
The High Priest would enter once a year.  His entrance was anything but boldly.  In fact, we might say it was with fear and trembling.  The writer of Hebrews tells us not to enter this way, but to enter with boldness.  This boldness is not anchored in who we are, but in Who Jesus Christ IS!  In addition, we have boldness because we are covered by Jesus Christ precious and pure shed blood.  
“He (OT high priest) went with fear and trembling, because, if he had neglected the smallest item prescribed by the law, he could expect nothing but death. Genuine believers can come even to the throne of God with confidence, as they carry into the Divine presence the infinitely meritorious blood of the great atonement; and, being justified through that blood, they have a right to all the blessings of the eternal kingdom.” (Clarke)
Knowing this Biblical truth is one thing, but to apply it to our daily lives is another.  May God help us to enter His presence often!