Over 100 times in the Old Testament God says that he is with his people, or with the leaders or prophets of Israel. In the New Testament God is with his people in a special way, in Jesus. God with us, Immanuel (Matthew 1:23). In Jesus, God made his dwelling among us (John 1:14). Jesus was worshipped by his disciples (Matthew 28:9, Matthew 28:17) like God is worshipped by the elders in Exodus 4:31. In Jesus, God is with us (Immanuel), and after his ascension Jesus is still with us (Matthew 18:20; Matthew 28:20). How? Through the Holy Spirit who dwells in our midst (1 Corinthians 3:16).
12 He said, “But I will be with you, and this shall be the sign for you, that I have sent you: when you have brought the people out of Egypt, you shall serve God on this mountain.”