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Enlarged my steps - See on Psalm 18:19; (note). From the hand of God he had continual prosperity; and while he walked with God no enemy was able to prevail against him. He details his successes in the following verses.

Thou hast enlarged my steps under me - The idea here is, “Thou hast made room for my feet, so that I have been enabled to walk without hindrance or obstruction. So in Psalm 31:8, “Thou hast set my feet in a large room.” The idea is, that he was before straitened, compressed, hindered in his goings, but that now all obstacles had been taken out of the way, and he could walk freely.

That my feet did not slip - Margin, mine ancles. The Hebrew word here rendered in the text feet, and in the margin ancles, means properly a joint; small joint; especially the ancle. The reference here is to the ancle, the joint that is so useful in walking, and that is so liable to be sprained or dislocated. The meaning is that he had been enabled to walk firmly; that he did not limp. Before, he had been like one whose ancles are weak or sprained; now he was able to tread firmly. The divine favor given to him was as if God had given strength to a lame man to walk firmly.

When we praise for one mercy, we must observe the many more, with which we have been compassed all our days. Many things had contributed to David's advancement, and he owns the hand of God in them all, to teach us to do likewise. In verse 32, and the following verses, are the gifts of God to the spiritual warrior, whereby he is prepared for the contest, after the example of his victorious Leader. Learn that we must seek release being made through Christ, shall be rejected. In David the type, we behold out of trouble through Christ. The prayer put up, without reconciliation Jesus our Redeemer, conflicting with enemies, compassed with sorrows and with floods of ungodly men, enduring not only the pains of death, but the wrath of God for us; yet calling upon the Father with strong cries and tears; rescued from the grave; proceeding to reconcile, or to put under his feet all other enemies, till death, the last enemy, shall be destroyed. We should love the Lord, our Strength, and our Salvation; we should call on him in every trouble, and praise him for every deliverance; we should aim to walk with him in all righteousness and true holiness, keeping from sin. If we belong to him, he conquers and reigns for us, and we shall conquer and reign through him, and partake of the mercy of our anointed King, which is promised to all his seed for evermore. Amen.