"Has Any People Heard the Voice of God Speaking...And Survived? Part 1" by Al Mohler

Here is a quote from the commentary to get you interested:

"There is no greater challenge than this--to make certain that we know on what authority we speak, and that we know on what authority we know. In Deuteronomy chapter four, Israel is reminded of the authority by which they live. They are reminded that they heard the voice of God speaking from the midst of the fire and survived."