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Verse 19. Do not obey authorities in anything that would cause you to sin or disobey God. Example: Ephesians 6:1 says, "Children, obey your parents IN THE LORD..." - obey in everything that agrees with what the Lord says.
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Take actions in obedience to the Word - take actions that emulate things the believers did in Acts. This will gain you exciting experiences that will grow your boldness to preach to others. In fact, you won't be able to help it - the words will just bubble out of you because of your passion for it.
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Verse 16,21. Let the fruit of your actions speak for themselves. Even if people want to harm or punish you or criticize you for what you believe, when they see that the word that you follow brings good fruit and great signs and wonders, they will have nothing bad to say.