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