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The Prayer of a Broken Heart: Being an Exposition of the Fifty-first Psalm is unavailable, but you can change that!

In this in-depth exploration of the fifty-first Psalm, Robert S. Candlish divides the psalm into four parts: the confession of sin, the supplication for full cleansing, its purpose of reparation, and its present sacrifice and final prospect.

is a simple casting of himself, sinner as he is, upon God. It is upon God, “according to his loving kindness, according to the multitude of his tender mercies,” that he casts himself. The rich, and large, and bountiful grace of God is his only stay. He appeals to it in terms expressive of the most emphatic fulness of contrite conviction and believing confidence:—“Have mercy upon me, O God, according to thy loving kindness; according unto the multitude of thy tender mercies blot out my transgressions.”
Pages 10–11