David presents a psalm of praise here. First, he expresses praise for all of creation in verses 1 and 2. Second, he describes the people whose worship is accepted by the Lord in verses 3 through 6. Here he is not talking about perfect people, but people who humbled themselves and confessed their sins to God. This is similar to Jesus’ comment to the Samaritan woman at the well: “But the time is coming – indeed it’s here now – when true worshipers will worship the Father in spirit and in truth. The Father is looking for those who will worship Him that way”. John 4:23 (NLT).
Third, in verses 7 through 10, David sings praises to God welcoming Him to be worshipped. In David’s time, the ancient gates may have referred to the gates to Jerusalem the ancient doors may have referred to the entrance to the tabernacle, the place of worship. In today’s world, the scene might be our private devotional time, where two or three are gathered or when the whole church meets. As we worship, our sins should be confessed and our attitudes right. Then, David declares the king of glory as “the Lord, strong and mighty, the Lord invincible in battle. . .the Lord of heaven’s armies”.
this psalm shows us how we should come before God in our prayers. We must acknowledge who He is and what He has done to get us in the right frame of mind. David did not ask for a single thing; he simply offered his praise to Yahweh.