Jesus was speaking to people who had been given instructions by God through the Law and the Prophets. And He quoted from Isaiah, through whom God had spoken to people similarly instructed.
In order to be pleasing to God, these two audiences needed to draw nigh unto Him with their whole hearts rather than their lips alone, obeying His commands rather than their own devices.
We see such a heart in Abraham when he offers up Isaac. We see it in the Israelites as they march around Jericho. We see it in Noah as he builds the ark. God says the heart that obeys His commands is the one that draws nigh to Him.
Jesus says the heart that disregards God’s commands is far from Him, and that the worship from such a heart is unacceptable.
What shall we say then that Abraham our father, as pertaining to the flesh, hath found? For if Abraham were justified by works, he hath whereof to glory; but not before God. For what saith the scripture? Abraham believed God, and it was counted unto him for righteousness. Now to him that worketh is the reward not reckoned of grace, but of debt. But to him that worketh not, but believeth on him that justifieth the ungodly, his faith is counted for righteousness.This event happened well before Abraham offered up Isaac. That's how it is. Believers are justified by faith first, after the Lord opens their heart. Then, because they have true faith, they act on it. So of course they are obedient. This is not really that hard.
(Romans 4:1-5)
Because the carnal mind is enmity against God: for it is not subject to the law of God, neither indeed can be. So then they that are in the flesh cannot please God.OK, maybe not hard. Paul is really saying it's impossible. Which is what I suspect is behind most systems that emphasize legal performance over faith and the new birth. Campbellism is a great example. If the supernatural work of the Holy Spirit in regeneration has been written out of the script, what else is there but human performance? But why is the Holy Spirit's role in conversion eliminated in this way? I think it is because of a deep-seated fear of the inability to control Him. That's not a good feeling for most folks. As natural humans, we want some five step formula to deal with our needs. It doesn't matter if it's easy or hard, as long as we can control it.
(Romans 8:7-8)