Audio Source: Short clip extracted from the audio series : The Three Fundamental Principles – Dr. Saleh as Saleh [Audio|En]
The following is excerpted from the Book – The Three Fundamental Principles by Shaykh Muhammad ibn Salih al-Uthaymeen, Translated by Dawud Burbank
And the evidence for turning repentantly (aI-inaabah) is the Saying of Allaah, the Most High:
“So turn, O you people, repentantly and obediently to your Lord. and submit obediently to Him” [Soorah az-Zumar (39):54]
 Al-Inaabah is to turn to Allaah, the Most High, in obedience, and avoiding disobedience to Him, and its meaning is close to that of repentance (tawbah), except that it is more subtle in meaning, and conveys the sense of dependence upon Allaah and fleeing for retuge to Him, and it cannot be except for Allaah, the Most High.
Its evidence is the Saying of Allaah, the Most High,
“So turn, O you people, repentantly and obediently to your Lord. and submit obediently to Him“ [Soorah az-Zumar (39):54]
What is meant by the Saying of Allaah, the Most High. “…submit obediently to Him” is: Islaam as preseribed and required of us in the Sharee’ah and that is to submit to the laws and commandments of Allaah. This is because submission to Allaah, the Most High, is of two types:
Submission of all the creation, which is to submit to whatever He has decreed should exist and occur in the creation about which the creation has no choice. So this is general and covers everyone in the heavens and the earth, the Believers and the unbelievers, the righteous and the wicked. No one can possibly disdain and depart from this. The evidence for it is the Saying of Allaah, the Most High.
”And to Him everyone in the heavens and the earth submit. willingly or unwillingly. and to Him you will all be returned.” [Soorah Aal-‘lmraan (3)283]
Submission to the laws and prescriptions of Islaam, and this is to submit in obedience. This is particular to those who are obedient to Allaah, the Messengers and those who follow them upon good. The evidences for this in the Qur’aan are many: and from them is the Aayah mentioned by the author [Soorah az-Zumar (39):54]