Summary: David knows he has sinned big time (not in this story, but he sleeps with a married woman and has her husband killed in military action). He pleads with God for forgiveness. David boldly asks not to be left without God's presence; he also gets past the Law and its sacrifices, noting God would rather have hearts that turn to Him than empty offerings.
Response: Here again is Relatable David. Yeah, I've done some sinning in even my short life; and I've gone through the motions in worship services at times. It's very easy for me to get lost in musical details and never get "into" worship (or to get right out of it soon thereafter). Lord, make me ever more dependent on You, that I need Your presence every day.