From Overcoming Fear, Worry, and Anxiety by Elyse Fitzpatrick:
…even great Bible heroes like Abraham, Moses, and Peter weren’t always characterized by great bravery. Now, I’m not saying that all of God’s people were always conquered by their fears–there are enough Daniels, Shadrachs, Marys, and Pauls in Scripture to let us know that God can change hearts and lives. In that you can rejoice. But you can also take comfort in the fact that God loves to call the fearful heart to Himself. God has worked in His children’s lives consistently throughout history: He’s brought them peace in the midst of violent storms, courage when confronting overwhelmingly powerful enemies, and confidence in the face of accusations and persecution. He’s helped them to stand before unfriendly judges and kings. He’s given them the supernatural boldness to “stop the mouths of lions.” If He is able to help His children in the extraordinarily difficult circumstances described in the Bible, He can give you tranquility and joy as you face the day-to-day pressures that threaten to overwhelm you.
Why does God delight in helping us to become trusting children, filled with peace and confidence, children who lean on His strength? Because when He changes hearts like ours into hearts like His, He receives praise and glory. When we discover that we’re able to walk peacefully through conditions that formerly terrified us, our hearts will overflow with gratitude and thanksgiving–and that brings joy to God. Only He can change hearts that are frequently overwhelmed by fear into hearts that are overshadowed by His power and bravery, and it’s His delight to do so.