Albert Barnes Commentary Luke 1:74

"To grant unto us that we being delivered out of the hand of our enemies Should serve him without fear," — Luke 1:74 (ASV)

Might serve him. Might obey, honour, and worship him. This was regarded as a favour. This was what was promised, and for this Zacharias praised God.

Without fear. Fear of death, of spiritual enemies, or of external foes. In the sure hope of God's eternal favour beyond the grave.