Most scholars agree that this Psalm and Psalm 51 were responses to David’s sin with Bathsheba (2 Samuel ch. 11). For a while, David did not ask God to forgive him. When he asked forgiveness from God, and He forgave David. David repented to God.
David uses three words to describe disobeying God: Disobedience, sin, and doing bad things. These three words describe all the ways we disobey God.
Next, David uses three words for what God does: God forgives, God covers, and He does not hold our sin against us: He will save us from going to hell for doing it.
In verses 3-5 we see where David asks God’s forgiveness. A burden was lifted from David when he asked for forgiveness from God and he was once again happy. God always forgives us if we ask Him no matter what we have done.
In verses 6-7 we see that David now feels different. He now feels free from sin. He tells everyone “Pray to God” He means if you sin ask God to forgive you; do not wait”. God was David’s hiding place. God will hide us from the bad times that are sure to come. He will keep us safe.
Verses 8-9 is God speaking now. God will always show us what we should do if we will ask Him. We should be people God can talk to, not like the animals.
In verses 10-11 we see that the people who trust God will not be sad. The only real way to be happy is to ask God to forgive you for your sin. You will have a clean heart then. It will be as though you have never sinned.
Sources: https://www.easyenglish.bible/psalms/psalm032-taw.htm
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