Psalm 32 is one of repentance, forgiveness, and redemption. David talks about how we are only as sick as our unconfessed sins. Our sins not only separate us from God, but they hinder us in our daily lives. We might not notice or accept it, but as our sin continues to multiply we are encumbered in a way that we were not designed to be burdened. That’s why Jesus said in Matthew 11:
28 “Come to Me, all who are weary and heavy-laden, and I will give you rest. 29 “Take My yoke upon you and learn from Me, for I am gentle and humble in heart, and YOU WILL FIND REST FOR YOUR SOULS. 30 “For My yoke is easy and My burden is light.”
He is called the Prince of Peace because He gives us peace and rest from our sinfulness. He not only forgives us but comforts us, consoles us, and restores us. However, we must be willing to put ourselves in a position to receive that rest. Notice Jesus uses actions words that require us to do something: come, take, find. By confessing your sinfulness to Him you are approaching Him with humility. By taking His yoke you are accepting His rule over your heart. Then you will discover yourself in a state of rest. This is what Paul was writing about in Ephesians 3:
14 For this reason I bow my knees before the Father, 15 from whom every family in heaven and on earth derives its name, 16 that He would grant you, according to the riches of His glory, to be strengthened with power through His Spirit in the inner man, 17 so that Christ may dwell in your hearts through faith; and that you, being rooted and grounded in love, 18 may be able to comprehend with all the saints what is the breadth and length and height and depth, 19 and to know the love of Christ which surpasses knowledge, that you may be filled up to all the fullness of God.
The last section of the psalm is God talking to us. He is reassuring us what it means to be under His yoke.
Don’t you want rest for your soul?.