What does the Bible say about how a sinner can approach God?

According to the sermon, the story of Jacob and Esau illustrates how a sinner can approach God. Jacob, who is characterized as deceitful and sinful, approaches his father Isaac (a type of God) by wearing the garments and skins of his brother Esau. This symbolizes how believers must come before God clothed in the righteousness of Christ. As Jacob could not come to Isaac in his own name, sinners cannot approach God on their own merits but must come in the name of Jesus, whose righteousness is credited to them.