For I Have Kept The Ways Of The Lord

[David] had often appealed to God concerning his innocency; and now God had given judgment upon the appeal (as he always will) according to equity. They confirmed the testimony of his own conscience for him, which he here reviews with a great deal of pleasure, His own heart knows, and is ready to attest it, That he had kept firmly to his duty, and had not departed, not wickedly, not wilfully departed, from his God. Those that forsake the ways of the Lord do, in effect, depart from their God, and it is a wicked thing to do so. But though we are conscious to ourselves of many a stumble, and many a false step taken, yet if we recover ourselves by repentance, and go on in the way of our duty, it shall not be construed into a departure, for it is not a wicked departure, from our God. - Matthew Henry