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This is known as the second of the penitential psalms. It is the song of a man who is rejoicing in the assurance of restoration. Opening with a burst of praise which reveals the experimental knowledge of the happiness of forgiveness (1, 2), it proceeds to describe the bitterness of the soul's experience while sin is unconfused (3, 4). Then the way of restoration by confession and the readiness of Jehovah to forgive are declared (5). On the basis of such restoration the soul has access to God and the assurance of His succor in trouble (6, 7). Then is sung the message of Jehovah to His child, in which the promise of guidance is made and the condition of submission is stated (8, 9). All ends with an affirmation of the safety of those who bust in Jehovah and a call to men to praise Him.
Among all the psalms there is none which touches deeper things in the life of the soul or more perfectly reveals the method of Jehovah in sin, sorrow, and guidance. He is ready to pardon, able to deliver, and willing to guide.
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Morgan, G. Campbell. "Commentary on Psalms 32". "Morgan's Exposition on the Bible". https://www.studylight.org/
the Third Week after Epiphany