Psalms 111:10, Proverbs 9:10, Proverbs 1:7 all contain this saying. The idea is that if we fear the Lord, which is not really a terror fear but more of a reverence and respect, we will do His commandments and learn to know the Truth.
I knew someone would come up with the answer.
There are similar passages in the Vedas as well. I understand it's not a terror type of fear, although sometimes that might be a start.
Love drives away fear. Does a babe in arms fear the parents?