Psalm 32 tells us of the joy of forgiveness and restoration. David tells us of this joy through his personal testimony. When he was in the mire of his misery, he confessed to the LORD, and He abundantly forgave. But the LORD did more than this. He brought the forgiven man under His tutelage and directs him to the live in His ways. There is forgiveness for the sinner who repents. The Lord is ever ready to recieve and restore the repentant sinner.