Being filled with the Holy Spirit is a gift the Lord first gave believers on Pentecost. Today if you place your faith in Jesus, the Holy Spirit dwells in you. This demonstrated the intimate relationship God wants with us.
In the Old Testament, the Holy Spirit came upon people for a time to empower individuals. When Joshua replaced Moses as the leader of Israel, he needed the Lord’s assistance to carry out what God called him to do. Numbers 27:18 The Lord replied, “Take Joshua, son of Nun, who has the Spirit in him and lay your hands on him. 
David tells us he fears God will take the Spirit from him after sinning. Psalm 51:11 Do not banish me from your presence, and don’t take your Holy Spirit from me.  This verse helps us understand that the Holy Spirit did not permanently dwell on people in the Old Testament.
The Holy Spirit Filled Believers
As the believers prayed on Pentecost, God would do something special to change their lives. First, the wind began to blow, and then tongues of fire came to rest on each believer. Acts 2:4 And everyone present was filled with the Holy Spirit and began speaking in other languages, as the Holy Spirit gave them this ability. 
As the Holy Spirit filled them, their lives would never be the same as God came and lived in them. The Holy Spirit empowered Peter to preach a message that resulted in 3000 people coming to faith. The timid disciples who ran away at Jesus’ arrest in the Garden of Gethsemane now boldly proclaimed the good news of Jesus. Pentecost began the church’s exponential growth as the Holy Spirit worked through people.
Being Filled with the Holy Spirit is Life-Changing
The Lord wants to transform your life! He wants us to leave our old life behind and put on the new life in Christ as the Holy Spirit fills us. Paul tells us that instead of being drunk on wine, be filled with the Holy Spirit. Part of being filled with the Holy Spirit is letting the Lord control you. Galatians 5:16 So I say, let the Holy Spirit guide your lives. Then you won’t be doing what your sinful nature craves.
As we let the Holy Spirit transform us, a result is growing in fruits of the Spirit. Galatians 5:22 But the Holy Spirit produces this kind of fruit in our lives: love, joy, peace, patience, kindness, goodness, faithfulness, 23 gentleness, and self-control. There is no law against these things!  I believe we all desire this kind of fruit!
To learn more about being filled with the Holy Spirit, listen here: