David is a happy man; he feels “blessed,” living a “blessed” life. But that was not always the case. Psalm 51 is the immediate expression of  confession over his sin with Bathsheba and God’s restoration of him, filled with the emotion of the moment. Psalm 32 seems to be written later, after some reflection, apparently the fulfillment of David’s vow in Psalm 51:13 “Then I will teach transgressors your ways, so that sinners will turn back to you.”
Scripture: Psalm 32