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Teach me to do your will, for you are my God.May your gracious Spirit lead me forward on a firm footing.--- Psalm 143:10Psalm 143 is a prayer in the midst of hopelessness and depression. Our prayers should fit into what we know is consistent with God's character and plans.Here in verse 10, David’s prayer was to be taught to do God’s will, not his own. A prayer for guidance is self-centered if it doesn’t recognize God’s power to redirect our lives. Asking God to restructure our priorities awakens our minds and stirs our will.--- Life Application Study Bible notes