We draw near because Christ our Mediator has gone where we never could, and he has brought us with him.
The Israelite God was different from all the other gods, thus, the worship of Yahweh differed from that of all other gods.
David finally found the truth that it was not his seed of kingship but the promise made to Abraham that made him holy. From that, David refused to be moved and wrote this Psalm by the necessity of the Spirit as the assurance of faith. The law never made a man holy, not even one as robust as David; yet faith did this great thing without lifting a finger.

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Indeed, our Lord pronounced no beatitude upon the man who is loved by his wife and cherished by his children, but He does say, "Blessed are you when men cast insults at you, and persecute you, and say all kinds of evil against you falsely, on account of Me," (Mt 5:11).
Like me, like most Americans, the equation of wealth with happiness is so firmly rooted in her psyche that only a divine surgeon could dig it out.
What kind of fool does what David did? What kind of fool ignores the riches spilling out of his pockets to steal the only penny a poor man has?
What I will tell you is that, despite all evidence to the contrary, despite what you think and feel and imagine, God is indeed in that dark place. You don’t know it, but he’s licking your wounds, too. And he’s keeping the deeper, blacker darkness at bay.
Strange though it be, however, it is marvelous in meaning: for this was his way of writing his covenant into the very flesh of his people. What was not there, was a sign of what was there.