Stephen Venable, a professor at the Forerunner School of Ministry gave this message at an Encounter God Service in April '08. It is an excellent teaching on what intimacy with God really is and how we grow in it. He discusses the distinction between the invitation to intimacy (God wants you to know Him), the overflow of intimacy (the joy and peace and pleasure of knowing God), and the actual substance of intimacy (relational knowledge of God).
I believe this is the most concrete and practical teaching on intimacy with God that I've heard. (hint: it's all about Jesus!)
