David struggled with his sinfulness and the shortness of life. He longed for a close fellowship with God in his remaining days on earth.
Make a joyful noise unto the LORD, all ye lands. Serve the LORD with gladness: come before his presence with singing. Know ye that the LORD he is God: it is he that hath made us, and not we ourselves; we are his people, and the sheep of his pasture. ~ Psalm 100:1-3