Create in me a clean heart, O God, and put a new and right spirit within me.
Do not cast me away from your presence, and do not take your holy spirit from me.
Restore to me the joy of your salvation, and sustain in me a willing spirit.
Then I will teach transgressors your ways, and sinners will return to you.
Deliver me from bloodshed, O God, O God of my salvation, and my tongue will sing aloud of your deliverance.
O Lord, open my lips, and my mouth will declare your praise.
For you have no delight in sacrifice; if I were to give a burnt offering, you would not be pleased.
The sacrifice acceptable to God is a broken spirit; a broken and contrite heart, O God, you will not despise.
Do good to Zion in your good pleasure; rebuild the walls of Jerusalem,
then you will delight in right sacrifices, in burnt offerings and whole burnt offerings; then bulls will be offered on your altar. (Psalm 51:10-19, NRSV)
Help me, O Lord to be in your presence always and help me to remember the joy of being there. Help me to always want to be with you and to remember what you want from me.
Here David tries to remember what is good about the Lord and asks the Lord to not leave him and to help him.
This is what we all should pray.