To keep in step with God is to walk in the fear of the Lord. It is a reverent fear that inquires of His wisdom. It's a godly fear that produces understanding.
Where folly is present, it can never stand in the presence of the Lord. So it is imperative and essential that the man and woman of God stay rooted in the Word of God.
Careful to keep to His paths is the way of the worshiper. It is a way that goes deep into his fellowship. It is also a way to allow the fruit of the Spirit to extend to others.