Psalm 86

David's prayer is built largely from God's own self-description in Exodus 34:6, "compassionate and gracious, slow to anger, abounding in loving devotion." He asks God to bring him joy and to give him an undivided heart. It's a model of praying God's character back to Him.

"Teach me Your way, O LORD, that I may walk in Your truth. Give me an undivided heart, that I may fear Your name." (Psalm 86:11)

Versions/Hebrew: "Give me an undivided heart" in 86:11 is yached levavi [3161], "unite my heart," make it one. In 86:2, "I am godly" is chasid ani [2623], "I am Your devoted/loyal one," a claim of belonging, not of moral perfection.