Romans 8:15 in the NLT reads: “So you have not received a spirit that makes you fearful slaves. Instead, you received God’s Spirit when he adopted you as his own children. Now we call him, ‘Abba, Father.'”
When we accept Jesus as our Lord and Jesus, we get adopted into the family of God (see Ephesians 1:5). And we can cry out to our loving heavenly Father and He will help us.