In the very first verse of Psalm 51 we read that David appeals to the tender, forgiving mercies of God: "Have mercy upon me, O God, according to thy lovingkindness: according unto the multitude of thy tender mercies blot out my transgressions."
David knew what to do: "This poor man cried, and the Lord heard him, and saved him out of all his troubles" (Psalm 34:6). "The righteous cry, and the Lord heareth, and delivereth them out of all their troubles" (Psalm 34:17).
Dear saint, this is your victory over sin: the absolute confidence that no matter how grievously you have sinned or fallen, you serve a Lord who is ready to forgive, anxious to heal, and possesses more lovingkindness toward you than you could ever need.
The devil comes to you and says, "No! If you get off the hook too easily, you'll jump right back into sin." He will make you feel miserable, unworthy to lift your hands in praise to God, or even to pick up His Word.
But here is your weapon: Cry out as David did, with all of your heart. Go to God and say to Him, "Lord, You love me. I know You are ready to forgive me. I confess!"
At that very moment, you are clear with God. You don't have to pay for your sin. God loves you so much that He gave His Son, who has already paid for it. A merciful, loving advocate is yearning to help and deliver you: "My little children, these things I write unto you, that ye sin not. And if any man sin, we have an advocate with the Father, Jesus Christ the righteous" (1 John 2:1).
My young granddaughter wanted to walk atop a low concrete wall. As I held her from behind, she tried to knock my hand away. I let go and eventually she fell (but without hurting herself). When she fell, I didn't desert her and say, "Look at what you did. You're not mine anymore!"
The Lord said to me, "David, you allow yourself such love for this child, but you won't allow Me to love you in the same way. You swell with pride over your children but you won't allow Me to do so on your behalf!"
The Bible says God takes pleasure in His children!