When you're down and out, or your sin has you in a rut, it's easy to be pinned to the mat.  The guilt and shame take hold of your inner being and make you feel like garbage.  Understanding restoration is not an easy concept in my mind, but it is what the Lord does for each of us if we ask for forgiveness.  Having an accountability partner is essential to being a believer and gaining spiritual growth.  David had one in Jonathan, who was Saul's son.  Jonathan had sided with David even though Saul wanted to kill him.  The two bonded and formed a brotherhood with each other, and it ended up saving David's life.