King David had everything, but somehow he was never fully satisfied. So, he found himself in the wrong place at the right time and had an affair with a married woman. To make matters worse, instead of coming clean, David had the husband of his mistress executed. In Psalm 51, we find David falling on his knees before the Lord and turning from his sin. Although most of us haven't sinned in the same manner as David, we are all guilty of breaking God's commands. If we are going to live our lives in a manner that is pleasing to God, we must learn what it means to repent and follow Him.