What David did and what we are called to do—reach out to the lost—is why Jesus came to earth. Luke 19:10: For the Son of Man came to seek and to save what was lost.
He is the Good Shepherd to whom David points (John 10:1–21; see also Luke 15:1–7). In our distress, he pleads with us, lost sinners, and calls us to himself and to find rest for our weary souls in him. Come to me, all who labor and are heavy laden, and I will give you rest.... For I am gentle and humble in heart, and you will find rest for your souls
(Matthew 11:28–29).
1 Answer me when I call, O God of my righteousness! You have given me relief when I was in distress. Be gracious to me and hear my prayer!