Jesus begins this portion of His sermon by exhorting His hearers to enter through the narrow gate. For years, I felt like that was a surprising way to start the thought. Especially since He immediately changes His topic to the gate and way that we should not travel. As I reflect on it further, it actually does make sense. The reason is because the consequences of not entering by the narrow gate are horrible.
One of the most well known aspects of Jesus' ministry was His miraculous healing ability. The gospel accounts are filled with stories of Him healing lepers, the diseased, and more. These miracles are used for a variety of reasons. Interestingly enough, there is at least one instance where a healing is related to the topic of authority.
Near the end of the Gospel of Matthew, Jesus shares the Parable of the Two Sons. In the story, the first son doesn't remain disobedient. He changes his mind. He goes to the vineyard as his father commanded. He is obedient and does his will. We can also change our minds, and seek to follow the will of God the Father.