Parashas Yisro · Passuk 19:17
Chabad.org — English translation + Rashi
Torah Temimah points to Yerushalmi 1:1 (verified).
English: They were called and did not tremble (in fear).
On the daf / in context: See the cited source for the full section.
Derash on the verse.
Yisrael’s going out to meet God is portrayed as a confident, unafraid response to the divine call.