I suppose it would be hard to find this as a command in the Scriptures, but it certainly seems like it should be one. It stands right up there with everything we are to believe about the Scripture. In fact, it seems puzzling that people who hold so tightly to the idea that everything in the Bible is literally true would neglect or deny this. This is the way Brennan Manning says it and I love it:
Accept that you are accepted!
I don’t know why He has accepted me. It’s sure not because of any goodness or worth on my part. It isn’t because I have done or will do something special for Him. He just did. Why did He accept you? Only He knows . . . but He has.
Blessed be the God and Father of our Lord Jesus Christ, who has blessed us with every spiritual blessing in the heavenly places in Christ, just as He chose us in Him before the foundation of the world, that we should be holy and without blame before Him in love, having predestined us to adoption as sons by Jesus Christ to Himself, according to the good pleasure of His will, to the praise of the glory of His grace, by which He made us accepted in the Beloved. Ephesians 1:3-6
He has already accepted you. Not because of what you have done or will do. Just because. In Jesus, we are acceptable to God. Amazing!
So enjoy life as one who is accepted by the perfect and holy Almighty God!