Allah stated that when He sent Adam, Hawwa', and Shaytan to earth from Paradise, He warned them that He will reveal Books and send Prophets and Messengers to them, i.e., to their offspring. Abu Al-`Aliyah said, "Al-Huda, refers to the Prophets, Messengers, the clear signs and plain explanation."
فَمَن تَبِعَ هُدَايَ
(And whoever follows My guidance) meaning, whoever accepts what is contained in My Books and what I send the Messengers with,
فَلاَ خَوْفٌ عَلَيْهِمْ
(There shall be no fear on them) regarding the Hereafter,
وَلاَ هُمْ يَحْزَنُونَ
(nor shall they grieve) regarding the life of this world. Similarly, in Surat Ta Ha, Allah said,
That is why the command for Adam (علیہ السلام) to go down to the earth was not withdrawn even when he had been pardoned: only the mode was now altered. Earlier the command had been given in the mode of authority, and the sending down to the earth intended as a punishment: hence the reference to the enmity among men. Now, it was in the mode of wisdom, and the sending down to the earth, an honour - the honour of vice regency. Hence the reference to things Viceregency involves. In commanding Adam and Hawwa (علیہما السلام) and their progeny to live on the earth, Allah told them that He would be sending down to men His guidance - that is, the injunctions of the Shari'ah - through revelation, and that those who follow it faithfully shall be free from sorrow and anxiety - in other words, they shall not have to grieve about any loss in the past, nor to worry about some misfortune in the future.
The practical lesson of the forbidden tree demonstrates how man goes astray by letting himself be deceived by Satan, and exceeding the bounds that God has laid down for him. As soon as he eats of the ‘forbidden fruit’, he is deprived of God’s grace or, in other words, Paradise. But this loss is not an irretrievable one. Man still has an opportunity to turn in repentance to his Lord, rectify his actions and seek forgiveness for his sins. When he turns to the Lord in repentance, God relents towards him, and cleanses him of his sins, as if he had never committed them. The preacher of truth is an ‘Adam’; it is for people to bow before him. If, carried away by pride and prejudice, they refuse to acknowledge his position, they are following in Satan’s footsteps. Such a denial amounts to having failed the test devised for man by God. God does not become plainly visible in this world; He reveals Himself through His signs, thereby testing his creatures. It is only those who can interpret His signs who will discover God Himself.
Uthmani text of the Madinah mushaf (King Fahd Complex). Translation: Saheeh International. Tafsir via Quran.com.