Psalm 5 expresses joy that is made possible only because of the mercy of God. Because of the mercy of God, there is hope of dwelling in the presence of God, receiving His blessings, and seeking His ways. Such experiences require humility to accept one’s guilt of doing wrong, to accept God’s way as right, and to accept God’s truth as the only truth. Your desire to be in the presence of God will be realized when you forsake the ways of sin. God shows mercy to those who humble themselves before Him. Just trust Him and enjoy the experience of hope in His mercy.