Judges 4:8

‘ And Barak said to her, ‘If you will go with me, then I will go. But if you will not go with me, I will not go.'

Barak was a warleader, not a prophet. He considered the ten units he would have with him on Mount Tabor and he considered the nine units of chariots, and the further large army of fighting men, a standing army trained for war, and he did not like the odds. So, yes, he was willing to trust Yahweh's plan, but only if Deborah confirmed her faith in it by going with him. Furthermore he felt that this would aid the fulfilment of the plan, for he had every confidence that Yahweh would fight for Deborah. And the men of Naphtali (with Issachar) and Zebulun would be far more likely to come if she was among them, so great was the common belief that Yahweh was with her. He had faith but he also wanted some kind of confirmation and guarantee.