In Psalm 23:3 David explains God's heart to restore humanity and lead us to right standing with Him. We see this play out when Jesus humbly lowers himself to this dark, broken world to atone for our sins. As Jesus hangs on the cross the very thing separating us from God,  torn in half.  We now have complete access to the presence of God! Not because of us, but because Jesus paid the price on our behalf. We are now in right standing with God.