Whoever has my commandments and keeps them, he it is who loves me. And he who loves me s will be loved by my Father, and I will love him and manifest myself to him. (John 14:21)

… so as to walk in a manner worthy of the Lord, fully pleasing to him, bearing fruit in every good work and increasing in the knowledge of God. (Colossians 1:10)

Love him, keep his commandments and pleasing him are the keys to know him.