What does Psalm 5:7 mean?

David is assured he will worship humbly and reverently in God's house because God's love is abundant and steadfast. David's enemies would not worship like David because they were arrogant and bloodthirsty. This psalm is part of David's experience with his murderous, rebellious son, Absalom (2 Samuel 15:13–14). Part of David's confidence that he would be vindicated was the fact that his enemies were evil, and not chosen by God (Psalm 4:2–3). Echoing this, Psalm 66:18 says "If I had cherished iniquity in my heart, the Lord would not have listened."

Isaiah chapter 1 explains that the Lord detested the hypocritical worship of the people. They offered sacrifices that the Lord rejected. He described the nation as "a people laden with iniquity, offspring of evildoers, children who deal corruptly!" (Isaiah 1:4). He told the hypocrites, "Bring no more vain offerings; incense is an abomination to me. New moons and Sabbath and the calling of convocations—I cannot endure iniquity and solemn assembly. Your new moons and your appointed feasts my soul hates" (Isaiah 1:13–14).

In Psalm 24:3–4, David writes, "Who shall ascend the hill of the LORD? And who shall stand in his holy place? He who has clean hands and a pure heart, who does not lift up his soul to what is false and does not swear deceitfully." The contrast between David and Absalom in these verses is striking.