Contrite Courageous Confidence

I like this phrase from John Piper. (see title)

He says, "The mark of God's people is not incapacitating fear, but rather contrite courageous confidence in God. That's the main point of Isaiah 41:14."

Isaiah 41:14

Fear not, you worm Jacob, you men of Israel! I will help you, says the Lord; your Redeemer is the Holy One of Israel.