After David committed adultery with Bathsheba and had Uriah killed, Nathan the prophet came to him and said, "Why did you despise the Word of the Lord by doing what is evil in his eyes."
David humbly confessed, "I have sinned against the Lord" (2 Samuel 12:13), and then he wrote Psalm 51: "I know my transgressions, and my sin is always before me...wash me."
Some who have sinned can never forgive themselves and could say continually with David, "My sin is ever before me."
But David prayed to get beyond the continual self-flagellation. He added, "Let me hear joy and gladness...Restore to me the joy of your salvation."
Later he felt so totally forgiven that he could write, "I have kept the ways of the LORD; I have not done evil by turning from my God...I have been blameless before him" (2 Samuel 22:22).
David had accepted God's forgiveness and this pleased God for He delights in those "who hope in His mercy" (Psalm 147:11 NKJV). When God forgives us, He wants to also restore our joy and gladness.
If we have a cloud because of some failure to respond to His will or even some conscious transgression, we should seek forgiveness and then trust in His mercy. What joyful words Paul wrote: "Therefore, there is now no condemnation for those who are in Christ Jesus" (Romans 8:1).
I praise You, God, because You freely give us the joy of our salvation after our failures.
"Help us, O God our Savior, for the glory of your name; deliver us and forgive our sins for your name's sake" (Psalm 79:9).