Help

   "Therefore let us [with privilege] approach the throne of grace [that 
    is, the throne of God’s gracious favor] with confidence and without 
    fear, so that we may receive mercy [for our failures] and find [His 
    amazing] grace to help in time of need [an appropriate blessing, 
    coming just at the right moment]." (Hebrews 4:16, AMP)

I'm beginning to wonder if sometimes our problem is not realizing where our help comes from, or more precisely - Who! Perhaps it's our definitions? Maybe we don't consider these scriptures as applying to ourselves? Or maybe we just don't understand what is being said? Did you catch the 'with privilege' comment? We are not only allowed to come but we come with privilege. And our privilege is built on confidence and without fear. 
(However, do read what comes before the 'Therefore'. Because what comes after is the response to that.)

We really do need to understand that we have been privileged to come. You do know what privilege means? Webster:

   "... a right or immunity granted as a peculiar benefit, advantage, or 
    favor : prerogative; to accord a higher value or superior position to."

You need to realize that a special opportunity has been granted to us, favor granted by God to come to Him because we have accepted Jesus, His Son, as our Lord. It's not granted to all or willy nilly, though all can participate in this favor when they do accept Jesus.

Why are we coming? For help. Any and every time we are in need of God's help, we can come. One translation says to come boldly. Boldly, to me, says without fear, knowing that we are welcomed to the throne room. Not only welcomed but assured that our needs and requests will be heard. Precisely, what do we receive? Mercy and Grace. 

Definitions from: https://www.biblestudytools.com/dictionary/

   Mercy: "Mercy is a concept integral to an understanding of God's 
    dealings with humankind. In English translations of the Bible, it 
    comes to expression in phrases such as "to be merciful, " "to have 
    mercy on," or "to show mercy toward." The corresponding term, 
    "merciful, " describes a quality of God and one that God requires 
    of His people. The noun denotes compassion and love, not just 
    feelings or emotions, as expressed in tangible ways.  ...
    True Christian faith produces genuine compassion and fruit in the 
    form of Acts of mercy toward those in need. It was this characteristic 
    of mercy that caused Christ to go among all kinds of people to help. 
    Believers are to respond to the mercy shown them in the same way."

   Grace:  "The word "grace" in biblical parlance can, like forgiveness, 
    repentance, regeneration, and salvation, mean something as broad 
    as describing the whole of God's activity toward man or as narrow 
    as describing one segment of that activity. An accurate, common 
    definition describes grace as the unmerited favor of God toward man.  
    ... The concept of grace is most prominently found in the New Testament 
    in the epistles of Paul."

The Hebrews scripture assures us that we will 'receive mercy' and 'find grace'. There's another Hebrew verse that adds the context to our coming to the throne:

   "But without faith it is impossible to [walk with God and] please Him, 
    for whoever comes [near] to God must [necessarily] believe that 
    God exists and that He rewards those who [earnestly and diligently] 
    seek Him." (11:6)

Grace, Mercy, Faith - powerful forces available for us when we seek His help.