'Companionship' in the Bible

The secret [of the sweet, satisfying companionship] of the Lord have they who fear (revere and worship) Him, and He will show them His covenant and reveal to them its [deep, inner] meaning.

[Joyfully the radiant bride turned to him, the one altogether lovely, the chief among ten thousand to her soul, and with unconcealed eagerness to begin her life of sweet companionship with him, she answered] Make haste, my beloved, and come quickly, like a gazelle or a young hart [and take me to our waiting home] upon the mountains of spices!

And therefore the Lord [earnestly] waits [expecting, looking, and longing] to be gracious to you; and therefore He lifts Himself up, that He may have mercy on you and show loving-kindness to you. For the Lord is a God of justice. Blessed (happy, fortunate, to be envied) are all those who [earnestly] wait for Him, who expect and look and long for Him [for His victory, His favor, His love, His peace, His joy, and His matchless, unbroken companionship]!

Peter said to Him, You shall never wash my feet! Jesus answered him, Unless I wash you, you have no part with ( in) Me [you have no share in companionship with Me].

God is faithful (reliable, trustworthy, and therefore ever true to His promise, and He can be depended on); by Him you were called into companionship and participation with His Son, Jesus Christ our Lord.