Psalm 32 follows pivotal events that took place in King David's life hinted at in Psalm 31. After his affair and murder, David lived in his guilt for many months before he finally found forgiveness with the Lord. He described the physical anguish he was in during this wait. After seeking out the Lord for forgiveness, he experienced peace and joy in the Lord again. We can learn from the life of David the joy that comes in surrendering to the Lord and choosing forgiveness instead of living in our failures.