Knowing God is more than knowing about Him. Knowing God means that we are intimate with Him in the secret place: we know His heart, will, and what pleases Him. When we know God intently, we are able to walk in such a way that honors Him.
The fear of the Lord isn't being scared of Him, rather, it's being scared of being away from Him. God's desire for us is to have abundant life, but we must understand that it is only found in Him...