True worship comes from the impulse to humble ourselves under the hand of God. Firstly, David cries for mercy, as he sees himself as unworthy in need of mercy and grace. Secondly, he cries out for a refuge, as he feels vulnerable before his enemies, realising he is not self-sufficient. Then finally, he calls his refuge the “shadow of God’s wings,” acknowledging his need for the covering of his God.

Psalm 57
Let Your Glory Be over All the Earth
To the choirmaster: according to Do Not Destroy. A Miktam[a] of David, when he fled from Saul, in the cave.
57 Be merciful to me, O God, be merciful to me,
for in you my soul takes refuge;
in the shadow of your wings I will take refuge,
till the storms of destruction pass by.
2 I cry out to God Most High,
to God who fulfills his purpose for me.
3 He will send from heaven and save me;
he will put to shame him who tramples on me. Selah
God will send out his steadfast love and his faithfulness!

4 My soul is in the midst of lions;
I lie down amid fiery beasts—
the children of man, whose teeth are spears and arrows,
whose tongues are sharp swords.

5 Be exalted, O God, above the heavens!
Let your glory be over all the earth!

6 They set a net for my steps;
my soul was bowed down.
They dug a pit in my way,
but they have fallen into it themselves. Selah
7 My heart is steadfast, O God,
my heart is steadfast!
I will sing and make melody!
8 Awake, my glory![b]
Awake, O harp and lyre!
I will awake the dawn!
9 I will give thanks to you, O Lord, among the peoples;
I will sing praises to you among the nations.
10 For your steadfast love is great to the heavens,
your faithfulness to the clouds.

11 Be exalted, O God, above the heavens!
Let your glory be over all the earth!