In the first covenant that God made with man Adam was free to do as he pleased, which he did and mankind has regretted his choice ever since. What we can learn from Adam’s story is that ultimately our eternal future depends upon our belief in the Lord’s faithfulness, and our commitment to entering and keeping our covenant with the Lord.
In the parable of the “Parable of the Bags of Gold” (Matthew 25:14-29) the Master said to the servant, “Well done, good and faithful servant! You have been faithful with a few things; I will put you in charge of many things. Come and share your master’s happiness!” Notice that the Master did not commend the servants, who returned with a profit, for what they believed; he commended him for what they did. They obviously believed because they chose to act on what they believed. The third servant had the same information as the other two, about the master, yet he decided to believe and act differently. Was that because of what was in that servant’s heart? That third servant had no trust in his master even though he believed his master. Did the servant see the master as being the same as him? (“To the faithful you show yourself faithful, to the blameless you show yourself blameless, to the pure you show yourself pure, but to the devious you show yourself shrewd.”)
In that same chapter of Mathew Jesus told the parable of the “The Sheep and the Goats” that described the final judgment. In that parable Jesus said, “These will go away into eternal punishment, but the righteous into eternal life.” Jesus said to the righteous, “For I was hungry, and you gave Me something to eat; I was thirsty, and you gave Me something to drink; I was a stranger, and you invited Me in; naked, and you clothed Me; I was sick, and you visited Me; I was in prison, and you came to Me.’” In that parable the righteous are those who chose to love their neighbors as themselves. In other words the people who were faithful to what the Lord said are the ones who were righteous.
All through scripture we see people making choices. Adam and Eve chose to disobey the Lord. Noah, by choice, walked with God. Following Israel’s choices is like taking a wild roller coaster ride, one moment they would choose to follow God and soon after they were sacrificing their children to false gods. King Saul chose to follow God and then chose not to. Solomon chose to follow the Lord with his whole heart and then chose to follow him somewhat. David, on the other hand, followed God and all but one of the Apostles chose to follow Jesus to the end.
One way to view those stories is that they are stories of those who would choose to be in and stay in covenant with the Lord, those who would choose to not be in covenant with Him, or those who would enter and then leave His covenant with them.
There may not be any place in scripture that shows that we must make our own choices better than Joshua 23-24 does. Israel had journeyed from Egypt, wandered in the desert, conquered nations and was able to rest for a moment. Their leader, Joshua, gathered them to hear him speak and after he reminded them of the great things the Lord did for them, that they saw Him do, he reminded them that they must make a choice. “If it is disagreeable in your sight to serve the Lord, choose for yourselves today whom you will serve: whether the gods which your fathers served which were beyond the River, or the gods of the Amorites in whose land you are living; but as for me and my house, we will serve the Lord.” 
The Lord doesn’t force us to follow Him and He didn’t force Israel to serve Him. Adam and Eve had to make a choice to obey Him as did Noah, Abraham and many others. The Lord made covenants with them all. Every time we see the Lord making a promise or giving a command, in Scripture, we are seeing a form of a covenant. The Lord promises His faithfulness to mankind in the Bible through covenants and it is through covenants that He expresses his expectation that man be faithful to Him.