In this week’s parsha, Bechukotai, God informs us that if we follow His laws וְהִתְהַלַּכְתִּי֙ בְּת֣וֹכְכֶ֔ם וְהָיִ֥יתִי לָכֶ֖ם לֵֽאלֹהִ֑ים וְאַתֶּ֖ם תִּֽהְיוּ־לִ֥י לְעָֽם: I will walk among you and be your God, and you will be My people. -Leviticus 26:12
(I interpret those Lion King lyrics in that way as well! So powerful and comforting)