David enjoys God's protection at a time when it seemed he had come to the end of his life. Yes, David conducted himself in a foolish way, but god kindly rescued him. Critically, even though he ran to the enemy physically, in his heart he called out to the Lord. The ruin that David had seen behind him presented real danger and it was from this danger that the Lord extracted him. God amazingly commits himself to keeping his people according to his purposes. Joy comes from deliberately worshiping God for the riches of his deliberate commitment to his people. Deliberate commitment includes controlling what comes into your mind and heart. It declares war of self-sufficiency and boasts in the God of all strength. This destroys the fear of death. It also boasts in the strength Christians have in Christian community. This is a start to what it means to boast in the Lord.
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