This psalm is worthy of using as a model prayer for the believer. It offers us insight into the prayers of David, the character of David, the nature and character of God, and it makes you think more of God than you have ever thought of Him before.
There are fourteen times in these seventeen verses that David makes a plea to God. He calls God his master (אֲדֹנָי, 3, 4, 5, 8, 9, 12, 15) and David calls God the covenant God (יְֽהוָה 1, 6, 11, 17). In each case his prayer reflects that relationship with God. He is a humble servant bowing before his awesome Lord and mighty God.
One other note of interest is the preposition “for.” It is used throughout this psalm as an introduction to the topics of prayer (1, 2, 3, 4, 5, 7, 10, 13). David needs God’s attention, as do we, because he is poor and needy, he is devoted to God, he is confident in his master who forgives, is great, does wonderful works, and who loves with an everlasting love. David understood this concept of prayer and we need to cling to it too. Why bother praying if the God you serve is not powerful, capable, and willing to answer? The difference between prayer and worry is this: When you worry you talk to yourself, when you pray you talk to Someone who can do something about it.
When you take time to pray today, to whom do you pray? Is it more of an expression of worry or of trust? Do you believe the God who commands us to pray, hears us pray, and seeks to answers those prayers? This is the God of this psalm and of the Scriptures. Pray according to His Word, believe He hears, and expect Him to answer.
I think this Psalm is a reminder that God hears all our pleas and prayers. We receive strength and comfort through prayer. When we worry and are anxious, it is God who can help us. God has the power and ability to answer our prayers and provide us with our needs. We just need to trust Him and seek Him.