A healthy fear of God recognizes one's flaws and inability to live up to God's standards. He wanted to write his Law on the hearts of Israel at Sinai, but they weren't ready. They rightly feared and asked him to stop, not because they doubted, but because they knew they weren't ready. Per the book of Hebrews, there was a flaw at Sinai, but the flaw wasn't in the covenant. It was in the unready hearts of men.
#deuteronomy 5:23-29
1 Samuel 7;5—6, “ And Samuel said, Gather all Israel to Mizpeh, and I will pray for you unto the Lord. And they gathered together to Mizpeh, and drew water, and poured it out before the Lord, and fasted on that day, and said there, We have sinned against the Lord. And Samuel judged the children of Israel in Mizpeh.” Samuel instructed that all of Israel, men, women and children were to come together to repent and to worship. It is time for all believers to come together and to repent and to worship again.