What does it mean biblically to draw near to God?

7 You hypocrites, rightly did Isaiah prophesy of you: 8 ‘This people honors Me with their lips, But their heart is far away from Me. 9 ‘But in vain do they worship Me, Teaching as doctrines the precepts of men.’” Matthew 15:7-9 (NASB) 

What does it mean biblically to draw near to God? Obviously, the Jews our Lord confronted as Matthew recorded in the passage above were not doing so. However Hebrews 10:22 says to those who are truly born again:

22 let us draw near with a sincere heart in full assurance of faith, having our hearts sprinkled clean from an evil conscience and our bodies washed with pure water. Hebrews 10:22 (NASB)  View article →