In Psalm 51 we see that David yearns for restoration of fellowship between him and God after he had acted independently of God. He was ridden with guilt & shame, he felt dirty, lost all joy, and he carried the weight of the broken fellowship on his shoulders. David brings before the LORD all the areas in his heart that need to be repaired in order for him to enjoy fellowship with God again.
In the area of guilt he asks for "deliverance".
In the area of feeling dirty he says "Create in me a clean heart, O God". He asks God to shape, to bring about in him, to produce in Him a clean heart.
In the area of lost joy he says "Restore to me the joy of Your salvation; Then my tongue will joyfully sing of Your righteousness.’"
In the area of the burden he carried of this broken fellowship he says “And renew a steadfast spirit within me; sustain me with a willing spirit; O Lord open my lips, That my mouth may declare Your praise.”
Through this prayer David had given to God what God would never turn away and that was “A broken and contrite heart”
Are you burdened with guilt and shame that needs to be brought before the LORD? Are you broken because of it? Take it to the LORD.
When you come before Him broken and crushed, God will restore you like He did David. He will renew you with a steadfast spirit, create in you a clean heart, restore to You the Joy of His salvation and deliver you. God is for us! Not against us. He hates sin but not the sinner. He wants to offer You His favour.
We need His favour everyday.
Eph 1:7: "In Him we have redemption through His blood, the forgiveness of our trespasses, according to the riches of His grace which He lavished on us.”