Bring Hungry for God in times of Failure - Psalm 51

I. Know what God is like: (v1-2)

Have mercy on me, O God,
 according to your unfailing love;
according to your great compassion [a]
 blot out my transgressions.
Wash away all my iniquity
 and cleanse me from my sin.

II. Know what I am like: (v3-6)
 
For I know my transgressions,
 and my sin is always before me.
Against you, you only, have I sinned [b]
 and done what is evil in your sight,
so that you are proved right when you speak
 and justified when you judge.
Surely I was sinful from birth,
 sinful from the time my mother conceived me.
Surely you desire truth in the inner parts;
 you teach me wisdom in the inmost place.

III. Know what God can do: (v7-12)

Cleanse me with hyssop, and I shall be clean;
 wash me, and I shall be whiter than snow,
Let me hear joy and gladness;
 let the bones you have crushed rejoice.
Hide your face from my sins
 and blot out my iniquity.
Create in me a pure heart, O God,
 and renew a steadfast spirit within me. [c]
Do not cast me from your presence
 or take your Holy Spirit from me .
Restore to me the joy of your salvation
 and grant me a willing spirit, to sustain me.

IV. Know what I can do: (v13-19)

Then I will teach the transgressors your ways,
 and sinners will turn back to you.
Save me from bloodguilt, O God,
 the God who saves me,
 and my tongue will sing of your righteousness.
O Lord, open my lips,
 and my mouth will declare your praise.
You do not delight in sacrifice, or I would bring it;
 you do not take pleasure in burnt offerings.
The sacrifices of God are a broken spirit;
 a broken and contrite heart,
 O God, you will not despise.
In your good pleasure make Zion prosper;
 build up the walls of Jerusalem.
Then there will be righteous sacrifices,
 whole burnt offerings to delight you;
 the bulls will be offered on you altar.

Footnotes:
[a] "The Lord, The Lord, the compassionate and gracious God, slow to anger, abounding in love and faithfulness, maintaining love to thousands, and forgiving wickedness, rebellion and sin." (Exodus 34.6-7)

[b] David had committed adultery with Bathsheba, and killed her husband, yet he says that his sin is against God himself.

hyssop - At sin sacrifices, a branch of hyssop would be dipped in the blood of the sacrifice and shaken onto someone as a sign of cleansing

[c] David had seen God remove his Spirit from King Saul