Joseph Benson's Commentary of the Old and New Testaments - Hebrews 10:19-22
Hebrews 10:19-22. Having therefore The apostle, having finished the doctrinal part of his epistle, now proceeds to exhortation, deduced from what has been treated of from Hebrews 5:4. For though there are some occasional intermixtures of doctrines, consonant to those before insisted on, yet his professed design henceforward is to propose to, and press on, the believing Hebrews, such duties as the truths he had insisted on laid a foundation for, and showed to be necessary to be practised. ... read more
Albert Barnes' Notes on the Whole Bible - Hebrews 10:22
Let us draw near with a true heart - In prayer and praise; in every act of confidence and of worship. A sincere heart was required under the ancient dispensation; it is always demanded of people when they draw near to God to worship him; see John 4:23-24. Every form of religion which God has revealed requires the worshippers to come with pure and holy hearts.In full assurance of faith - see the word used here explained in the notes on Hebrews 6:11. The “full assurance of faith” means unwavering... read more