Adam and Eve had a personal relationship with God in that he physically walked with them in the garden of eden and spoke to them. Various other biblical characters heard his voice and experienced his presence in a variety of ways. Jesus said when we pray we should refer to him as Our Father (Dad) and said he himself said he would be always with us and where one or two are gathered in his name he would be there. The bible talks about the indwelling of the Holy Spirit as in a bit of Gods presence inside our very soul. That sounds like personal relationship to me.no verses in the scriptures will tell about personal relationship with God
I think the personal relationship bit is about treating God as someone we want to get to know, who cares about us and wants to guide us to be the best we can be (like a father, teacher or friend), as opposed to some abstract remote force. We should serve God out of love as opposed to blindly following religious ritual.
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