The group that wandered in the wilderness for forty years did not enter the Lord’s rest because of their unbelief and disobedience, but we have been promised another rest from the Lord,
“again He designates a certain day, saying in David, ‘Today,’ after such a long time, as it has been said: ‘Today, if you will hear His voice, do not harden your hearts.’ For if Joshua had given them rest, then He would not afterward have spoken of another day. There remains therefore a rest for the people of God” (Hebrews 4:7-9).
The writer argues that when the Holy Spirit through David said, “Today,” in Psalm 95, the Lord was promising His people another rest besides the one that they had when entering the Land of Canaan.
That rest of which David prophesied and of which the Hebrew writer is referring, we call heaven.
Soften your heart to the voice of the Lord in His Scriptures that you might enter that rest.