My friends Robert and Colleen have experienced a healthy marriage for decades, and I love watching them interact. One will pass the butter to the other at dinner before being asked for it. The other will refill a glass at the perfect moment. When they tell stories, they finish each other’s sentences. Sometimes it seems they can read each other’s mind.

It’s comforting that God knows and cares for us even more than any person we know and love. When the prophet Isaiah describes the relationship between God and His people in the coming kingdom, he describes a tender, intimate relationship.…