Ps 51:6 Behold, You desire truth in the inner being; make me therefore to know wisdom in my inmost heart.
Ps 51:7 Purify me with hyssop, and I shall be clean [ceremonially]; wash me, and I shall [in reality] be whiter than snow.
Ps 51:8 Make me to hear joy and gladness {and} be satisfied; let the bones which You have broken rejoice.
Ps 51:9 Hide Your face from my sins and blot out all my guilt {and} iniquities.
Ps 51:10 Create in me a clean heart, O God, and renew a right, persevering, {and} steadfast spirit within me.
Ps 51:11 Cast me not away from Your presence and take not Your Holy Spirit from me.
Ps 51:12 Restore to me the joy of Your salvation and uphold me with a willing spirit.
Ps 51:13 Then will I teach transgressors Your ways, and sinners shall be converted {and} return to You.
In this Psalm, David really missed the presence of the Lord and was deeply sorry for his sin. Sin had seperated David from his communion with God and I believe he felt it strongly when he wrote this prayer. If we really desire truth in our inmost parts, we bring all before our Father who is quick to hear our cry. He asks for mercy, a renewed clean heart, steadfast spirit, he wants his joy restored so he can be effective with leading others. David was overwhelmed with awareness of the the fruit of his sin with Uriah's wife. He knew he was responsible for his servants death. God never took away his will; he was king and could do what he wanted, including use his power God had given him as an occasion for his own satisfaction and greed. One might read that story and question: Why was David home watching someone's wife take a bath instead of being out in battle with his men? Some of the error we experience is this false blindness after being in a church world of religious people, is in thinking we do not sin or have areas God wants to work on if we yeild to Him. Many in administrative positions of leadership wear a cloak for their own purposes. It can be as small to the world as having a business besides being a Pastor of a church, and buying all your business equipment through the church to save you money. There would be no one except God to see beneath your outward cloak. If we desire truth in our inmost parts, we walk uprightly with God and stand in his robe of righteousness and throw off any other garment or cloak. It is our choice always, but truth shows through any cloak or robe. Which would you rather wear?