“Obedience follows trust as surely as disobedience follows distrust. But what does distrust look like? Distrust has two aspects: (1) Distrust is Adam disregarding God and saying, "I know better" and (2) distrust is the Israelites at Sinai saying "God, tell us what to do, and we'll do it" (see Exodus 19:8).
Don't be fooled by the Isrealites' desire to obey God. Their motives were rotten, and their hearts were faithless. If they trusted God they would not have asked for rules. They would've said, "God, remember your covenant with our father Abraham and bless us." Instead they basically said, "God, we don't believe your promises to Abraham. Tell us how we can bless ourselves." And God gave them what they asked for: rules for self-blessification.”