Then Moses went up, also Aaron, Nadab and Abihu, and seventy of the elders of Israel, and they saw the God of Israel. And there was under His feet as it were a paved work of sapphire stone, and it was like the very heavens in its clarity. But on the nobles of the children of Israel He did not lay His hand. So they saw God, and they ate and drank. - Exodus 24:9-11 NKJV
What a rare occasion this must have been for many people other than Moses to actually stand in God's presence and look upon Him. Try to picture the scene above in your mind. I'm sure that words cannot adequately describe what they saw. Interestingly enough, not too much earlier than this scene, all of the people but Moses were told to stand back (Ex 24:1-2) What changed? What does is take to see God and be in His presence?
Two things changed. The hearts of the people and the applied mercy of God. Moses received the words of God, told them to the people, and the people in united fashion proclaimed to Moses their obedience to God. As a result, Moses took blood from the burnt offerings and sprinkled it upon the people as a sign of God's covenant. (Ex 24:7-8) It was only then that some of the people were allowed to approach God. And oh, did they see Him!
Individual obedience to God's call on our lives allows us to draw near to God. Our first act of obedience is to respond to His "call" by believing on Jesus Christ for salvation and asking Christ to be Lord over all of our lives. That is our blood "covenant", allowing us in to heaven where God dwells in all His majesty. Day to day obedience allows us to draw near to God while we are here on earth in the form of prayer and worship. It takes a lot of surrender to our own wants and desires, but it is worth it. Do you want to get a closer "peak" at God? Ask God to give you a heart examination and show you how you can be more obedient. He'll let you see Him.