What does the Bible say about living under grace instead of law?

The Bible emphasizes that living under grace liberates believers from the fears associated with the law, as outlined in Galatians 4:21-31 where Hagar represents the bondage of the law, while Sarah represents the freedom of grace. The Apostle Paul contrasts these two covenants to illustrate that those who rely on works of the law live in fear due to their sins and failures. In contrast, those who accept salvation as a gift of grace can rejoice and rest in the assurance of their salvation, free from the anxiety of judgment and condemnation.