Psalm 40 celebrates God’s deliverance of David from the pit of despair and his renewed trust in the Lord’s steadfast love. It begins with gratitude for past rescue, moves to wholehearted obedience—“I delight to do your will, O my God”—and ends with a humble cry for help amid new troubles. The psalm reminds us that waiting on God leads to worship, obedience, and confidence, even in our need, that “the Lord takes thought for me.”