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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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.
For since it was not enough that the Lord of heaven and earth hung on your every word, his Word was made flesh and prayed among us, a priest in the order of Melchizedek, “offering up prayers and supplications with loud cries and tears, to him who was able to save Him from death,” (Heb 5:7).
Though the theophanic elements at the Jerusalem Pentecost were not as diverse as those at Sinai, there is one prominent commonality between the two: divine speech out of divine fire.
The second truth, however, is that just because God has become a man does not mean he thinks, desires, or speaks as man generally does.