Psalms 5:2

Hearken unto the voice of my cry - My cry for assistance. The word “voice” refers to the utterance of his desires, or to his “expressed” wishes in a time of trouble.

My King, and my God - Though he was himself a king, yet he acknowledged his subjection to God as his supreme Ruler, and looked up to Him to protect him in his dangers, and to restore him to his rights. He was, at the same time, his God - his covenant God - to whom he felt that he was permitted to come in the hour of trouble, and whose blessing he was permitted to invoke.

For unto thee will I pray - He had no one else to go to in his troubles, and he felt that he “might” approach the living God. It was his fixed purpose - his regular habit - to pray to him, and to seek his favor and friendship, and he felt that he was permitted to do so now.