Psalms 143:10

(k) Teach me to (l) do thy will; for thou [art] my God: thy spirit [is] good; lead me into the land of uprightness.

(k) He confesses that both the knowledge and obedience of God's will comes by the Spirit of God, who teaches us by his word, gives understanding by his Spirit, and frames our hearts by his grace to obey him.

(l) That is, justly and aright, for as soon as we decline from God's will, we fall into error.