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When David wrote Psalm 51 after his colossal sins with Bathsheba and Uriah, his poem of confession gives us a picture of the role of worship in restoration. He affirms the story of restoration from human brokenness to God's mercy and faithfulness. And he responds to the reality of restoration with a posture and life bent towards God. In so doing, David enlivens his restoration by taking hold of the life that God offers.