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 guilt of doing wrong, to accept God’s way as right, 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. 

In this 27 1/2 minute audiobook, you will learn about the promises of God that will give you reason to rejoice.