This is part 2 of these three points:
1. Today, hear His voice
2. Today, don't harden your heart
3. Today, enter God's rest.
From what the Holy Spirit says in Hebrews 3:7-10, we go to God's people in the Old Covenant and we see that the way they hardened their hearts was in these three ways:
a) Hardships can harden our hearts so that we don't hear God's voice
b) Lust for pleasure can harden our hearts so that we don't hear God's voice
c) Presumption can harden our hearts so that we don't hear God's voice
The reason God wants us to soften our hearts is because His heart is so soft to us! Knowing that we can't do this, He sent Jesus, the Perfect Israel, the Perfect Obedient Son, and Jesus perfectly fulfilled a, b and c. In the wilderness for 40 days he was tested in all these three areas and in each case, Jesus listened to the voice of God in His written words.
We didn't get to 3. but to enter God's rest simply means that the human heart arrives at the peace and wellbeing that God designed us to enjoy when we hear His voice and obey. 

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