Pastor Steve Harris' sermon "Freedom From Worry" highlights the significance of public declaration of faith through baptism. He addresses the imprisonment of worry, urging the congregation to trust in God's provision and protection. By focusing on positive and godly thoughts, practicing prayer, and seeking community support, believers can find liberation from anxiety. The sermon provides practical guidance and biblical teachings for those battling worry, stressing the importance of entrusting concerns to God and fostering a mindset of faith and positivity.