While God intends to keep His promise to His people, their stubborn hearts are repulsive to Him. So He sends His angel to go with them, choosing not to go Himself. This bothers the people so much that they repent and beg God to stay. Their display of heartfelt repentance, even in the face of their sin, makes God relent, and He gives them the Tabernacle as a dwelling place for Himself among them.