Come Boldly unto the Throne of Grace

We know what "boldly" looks like, but how do we get there?
Moving boldly is moving forward using strong muscles to push from behind, taking big steps with confidence. In horse terminology, it's called "impulsion".
Ron Meredith says:

Impulsion is a power surge that doesn't have anything to do with speed. It means the horse is pushing more powerfully with his muscles, not moving them faster so he gives you more strides. Impulsion does not have anything to do with excitement, either. You don't use louder, more exciting aids to create excitement in the horse in hopes of getting impulsion. If you raise the horse's excitement level, then what you get is a horse that feels excited rather than one that feels the shape his rider is asking him to take.
Read the whole article on Impulsion

Ron Meredith adds:
The horse has to respond physically to rein contact and has to develop both sides of his body equally and become straight before he's got the muscle strength and muscle memory to go on to impulsion. To give you a longer, bigger stride, the horse has to use his hindquarter muscles to surge off the ground. He has to have a relaxed, strong back to do this. He has to be balanced.

How do we come boldly to the throne of grace? We come with confidence because the Bible tells us God has made us joint heirs with Jesus:
And since we are his children, we will share his treasures--for everything God gives to his Son, Christ, is ours, too. But if we are to share his glory, we must also share his suffering. Romans 8:17
But because of his great love for us, God, who is rich in mercy, made us alive with Christ even when we were dead in transgressions - it is by grace you have been saved. And God raised us up with Christ and seated us with him in the heavenly realms in Christ Jesus, in order that in the coming ages he might show the incomparable riches of his grace, expressed in his kindness to us in Christ Jesus. For it is by grace you have been saved, through faith -- and this not from yourselves, it is the gift of God -- not by works, so that no one can boast. For we are God's workmanship, created in Christ Jesus to do good works, which God prepared in advance for us to do. Ephesians 2:4-10

God wants us to come directly to Him, as a child would come boldly to his daddy. No hanging of heads, no shyness, no sneaking into His presence. We have a right (after all that's what righteousness is, being in right standing with God) to come to Him at any time with any thing. Spending with Him, knowing Him, builds our faith "muscles". In essence, our faith is our impulsion. We develop this impulsion/faith by spending time with God. You've heard the expression "wet saddle pads" - how do you train your horse? - "wet saddle pads" - lots of time, lots of good quality practice. It is the same with learning to hear God's voice - reading the Bible, listening to good teachers, taking notes, memorizing scripture, rehearsing who He is and what He's like, singing worship songs and really thinking about the words of the songs. Learn to come to Him just to be with Him, not to be always asking for some selfish (or not-so-selfish) something. Pray for Him to change you to be more like Him, to make you into what He wants you to be. Determine to change as soon as you know the need for it - these are His tender mercies - rather than waiting until you're in a crisis and must accept "severe mercies" of consequences for what you've done. Change can be a scary thing, but we must realize that God's plans for us are far beyond what we could ever dream, and they are for our good (Jeremiah 29:11) The result? More happiness, more peace, more faith. In horse terms, more impulsion, more collection, a rounder back. God trains us gently when we will listen, but if we're heading for a cliff at full gallop, He will use stronger means! Refer to this article by Ron Meredith on training Intensity.

Therefore don't throw away your boldness, which has a great reward. For you need endurance so that, having done the will of God, you may receive the promise. "In a very little while, He who comes will come, and will not wait. But the righteous will live by faith. If he shrinks back, my soul has no pleasure in him." but we are not of those who shrink back to destruction, but of those who have faith to the saving of the soul. Hebrews 10:35-39

What are the specifics of teaching your horse to move forward boldly? Read this article by the Horsecoach, a teaching sequence for increasing Impulsion.

How does this translate to us spiritually? The Lord urges and encourages (leg pressure), corrects and guides (reins), helps us through the turns (bends around the leg), gives us opportunities to accomplish increasingly higher-level tasks as our faith (muscle tone) and study of the Word, prayer, and knowing Him (training) increases. You would never ask your beginner horse to change leads at every stride; he couldn't do it. God will not ask you to serve Him above your level - He will ask you to stretch, as you ask your horse to stretch to trot over poles, but He will not test you beyond what you are able do for Him.