After reading this chapter, what jumps out at me is how even after sinning David finds a way worship God. Throughout my life, I have found myself running FROM God after sinning instead of running TO God as David does here. Looking "Through the Window" of time 3000 years ago, David teaches us that we can bring a sacrifice to God of a broken spirit and regretful heart (v. 17). This pleases God and it's an acceptable way to worship Him even after sinning. Learning to run TO God, no matter what we have been through, honors Him and is always proper worship.