The context of this passage indicates that we have this wondrous access to God's throne of grace because of the intercession of our great High Priest, Christ Jesus. Because of Whose we are, we have access in prayer to get the help we need just in the time we need it.
Earthly intercessors fall short in intercession because they do not understand to the extent of one's experience. In other words, if I have never lost a parent to death, I can pray for/with you in your loss, but I cannot fully understand your sorrow. Christ Jesus, however, was "tempted in all points as we are, yet without sin." Therefore, He understands what we are going through for He has been there. He was victorious over the temptation (trial), therefore not only intercedes, but understands what we are going through.
Because of this access to God's throne of grace, we are encouraged to "come boldly", not brashly nor arrogantly, but with assurance and confidence, and that because of Whose we are, we may expect to obtain the help we need when it is needed.
In John 11, we read the account of Lazarus' death and resurrection. When word was sent to Jesus, He tarried before He came to Mary and Martha's aid. Both sisters confronted Him with, "If only You had been here, Lazarus would not have died", implying that He was too late. As we read the rest of the narrative, we find that Jesus was not late, but rather, right on time for the glory of God to be displayed.
The word translated "help" here is interesting. It is a term that has to do with a 'rope or chain used for frapping a vessel'. Frapping is not a familiar term to us, but it is a nautical term that is used in Acts 27:17. When the ship on which Paul was traveling was in distress due to the storm, they "used wraps" in an attempt to keep the ship from breaking apart. They wrapped strong ropes around the vessel.
The same word us used here for God's grace in our times of need. He effectively 'wraps His grace around us'! The phrase 'in time of need' can be translated as 'well-timed', or as we might say, 'in the nick of time'.
This well-timed grace is available when we call for it...we are assured that we will receive it due to the intercession of our High Priest! As we always have need of grace, let us thank God that there is always grace for our need!
Cleland B. McAffee penned the words and music to NEAR TO THE HEART OF GOD and it gives us encouragement to seek that 'place of quiet rest' in our times of need.