Colossians - Truly Understand God's Grace

As Paul writes with gratitude for the Colossians, he reminds them for the reason they've been so fruitful: a true understanding of God's grace. But as Christians we often struggle with this very thing. Too often we enter the family of God by grace and then depart from that grace after we enter. Too often we live with a sense of inadequacy, legalism, and shame. Where do we start in grasping the true nature of God's grace?