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Restore unto me the joy of thy salvation - This is an awful prayer. And why? Because it shows he once Had the joy of God's salvation; and had Lost it by sin!

Uphold me with thy free spirit - Prop me up; support me with a princely spirit, one that will not stoop to a mean or base act. See on Psalm 51:10; (note).

Restore unto me the joy of thy salvation - literally, “Cause the joy of thy salvation to return.” This implies that he had formerly known what was the happiness of being a friend of God, and of having a hope of salvation. That joy had been taken from him by his sin. He had lost his peace of mind. His soul was sad and cheerless. Sin always produces this effect. The only way to enjoy religion is to do that which is right; the only way to secure the favor of God is to obey his commands; the only way in which we can have comforting evidence that we are his children is by doing that which shall be pleasing to him: 1 John 2:29; 1 John 3:7, 1 John 3:10. The path of sin is a dark path, and in that path neither hope nor comfort can be found.

And uphold me with thy free spirit - That is, Sustain me; keep me from falling. The words ““with thy”” are not in the original, and there is nothing there to indicate that by the word “spirit” the psalmist refers to the Spirit of God, though it should be observed that there is nothing “against” such a supposition. The word rendered “free” - נדיב nâdı̂yb - means properly “willing, voluntary, ready, prompt;” 1 Chronicles 28:21; Exodus 35:5. Then the word means liberal, generous, noble-minded; Isaiah 32:5, Isaiah 32:8; Proverbs 17:7, Proverbs 17:26. It would seem here to mean “a “willing” spirit,” referring to David‘s own mind or spirit; and the prayer is, that God would uphold or sustain him “in” a “willing” spirit or state of mind; that is, a state of mind in which he would he “willing” and “ready” to obey all the commands of God, and to serve him faithfully. What he prayed for was grace and strength that he might be “kept” in a state of mind which would be constant and firm Psalm 51:10, and a state in which he would always be found “willing” and ready to keep the commandments of God. It is a proper object of prayer by all that they may be always kept in a state of mind in which they will be willing to do all that God requires of them, and to bear all that may be laid on them.

God intended the history of David's fall to serve as a warning that even those whom He has greatly blessed and favored are not to feel secure and neglect watchfulness and prayer. And thus it has proved to those who in humility have sought to learn the lesson that God designed to teach. From generation to generation thousands have thus been led to realize their own danger from the tempter's power. The fall of David, one so greatly honored by the Lord, has awakened in them distrust of self. They have felt that God alone could keep them by His power through faith. Knowing that in Him was their strength and safety, they have feared to take the first step on Satan's ground. PP 724.1

Even before the divine sentence was pronounced against David he had begun to reap the fruit of transgression. His conscience was not at rest. The agony of spirit which he then endured is brought to view in the thirty-second psalm. He says: PP 724.2

“Blessed is he whose transgression is forgiven, whose sin is
covered.
Blessed is the man unto whom the Lord imputeth not iniquity,
And in whose spirit there is no guile.
When I kept silence, my bones waxed old
Through my roaring all the day long.
For day and night Thy hand was heavy upon me:
My moisture was changed as with the drought of summer.” PP 724.3

“Blessed is he whose transgression is forgiven,
whose sin is covered.
Blessed is the man unto whom the Lord
imputeth not iniquity,
And in whose spirit there is no guile.” SC 25.1

Psalm 32:1, 2. SC 25

“Have mercy upon me, O God, according to
Thy loving-kindness:
According unto the multitude of Thy tender
mercies blot out my transgressions....
For I acknowledge my transgressions: and my
sin is ever before me....
Purge me with hyssop, and I shall be clean:
wash me, and I shall be whiter than snow....
Create in me a clean heart, O God;
And renew a right spirit within me.
Cast me not away from Thy presence;
And take not Thy Holy Spirit from me.
Restore unto me the joy of Thy salvation;
And uphold me with Thy free spirit....
Deliver me from bloodguiltiness, O God, Thou
God of my salvation:
And my tongue shall sing aloud of Thy
righteousness.” SC 25.2

O that we might have a consuming desire to know God by an experimental knowledge, to come into the audience chamber of the Most High, reaching up the hand of faith, and casting our helpless souls upon the One mighty to save. His loving kindness is better than life (Manuscript 38, 1905). 3BC 1147.1

1-17. The Way Back to God—I present before you the fifty-first psalm, a psalm filled with precious lessons. From it we may learn what course to follow if we have departed from the Lord. To the king of Israel, exalted and honored, the Lord sent a message of reproof by His prophet. David confessed his sin and humbled his heart, declaring God to be just in all His dealings [Psalm 51:1-17 quoted] (Manuscript 147, 1903). 3BC 1147.2

This is the very work which the Lord designs that the message He has given His servants shall perform in the heart and mind of every human agent. It is the perpetual life of the church to love God supremely and to love others as they love themselves. There was but little love for God or man, and God gave to His messengers just what the people needed. Those who received the message were greatly blessed, for they saw the bright rays of the Sun of Righteousness, and life and hope sprang up in their hearts. They were beholding Christ. “Fear not,” is His everlasting assurance; “I am He that liveth, and was dead; and, behold, I am alive forevermore.” “Because I live, ye shall live also.” The blood of the spotless Lamb of God the believers apply to their own hearts. Looking upon the great Antitype, we can say, “It is Christ that died, yea rather, that is risen again, who is even at the right hand of God, who also maketh intercession for us.” The Sun of Righteousness shines into our hearts to give the knowledge of the glory of Jesus Christ. Of the Holy Spirit's office He says, “He shall glorify Me: for He shall receive of Mine, and shall show it unto you.” The psalmist prays, “Purge me with hyssop, and I shall be clean: wash me, and I shall be whiter than snow.... Create in me a clean heart, O God; and renew a right spirit within me. Cast me not away from Thy presence; and take not Thy Holy Spirit from me. Restore unto me the joy of Thy salvation; and uphold me with Thy free Spirit. Then will I teach transgressors Thy ways; and sinners shall be converted unto Thee.” TM 95.1

The Lord would have these grand themes studied in our churches, and if every church member shall give entrance to the word of God, it will give light and understanding to the simple. “Who is among you that feareth the Lord, that obeyeth the voice of His servant, that walketh in darkness, and hath no light? let him trust in the name of the Lord, and stay upon his God. Behold, all ye that kindle a fire, that compass yourselves about with sparks: walk in the light of your fire, and in the sparks that ye have kindled. This shall ye have of Mine hand; ye shall lie down in sorrow.” (See Isaiah 29:13-16, 18-21.) “Thus saith the Lord, Let not the wise man glory in his wisdom, neither let the mighty man glory in his might, let not the rich man glory in his riches: but let him that glorieth glory in this, that he understandeth and knoweth Me, that I am the Lord which exercise loving-kindness, judgment, and righteousness, in the earth: for in these things I delight, saith the Lord.” TM 95.2