If we stay near to God, He will be with us - 2 Chronicles 15:2

And he went out to meet Asa, and said unto him, Hear ye me, Asa, and all Judah and Benjamin; The LORD is with you, while ye be with him; and if ye seek him, he will be found of you; but if ye forsake him, he will forsake you.

God will be with us, if we seek Him, but He will be unable to help us, if we ignore Him. When we seek God, even if we had forsaken Him in the past, we will receive forgiveness from Him.