I desire to do your will, O my God;
your law is within my heart.
Psalm 40:8
Even Paul said that he struggled with doing God's will. He sincerely wanted to, and tried to, but continually failed. And that's coming from one of the Bible's greatest characters ... like David, a man after God's own heart.
What does it mean to have God's law written on your heart? It means more than just knowing God's law. It means that we understand that God is good, and that his laws are what is best. It means we trust God as the good and loving Father that He is. And as a loving child, we desire to please our Father and trust him that his instruction will keep us on path for the plan for which He's created us.
Notice that the Psalmist does not say that he does God's will, but that he desires to do it. He acknowledges his inability. But God knows that we will fail. He's already there when we do. All He's worried about is that you have a true desire in your heart to follow and obey His law. This shows Him that you love Him back, and that you trust Him at His Word.
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