What does Psalm 73:24 mean?

Asaph was grateful not only for the Lord's presence but also for His guidance and assurance of heaven. That guidance is what helped him recover from a crisis of faith (Psalm 73:2–3) to return to a fuller understanding of God's truth (Psalm 73:15–18, 23).

The Lord has a purpose for the lives of His people. He is readily available to guide them to the successful completion of His purpose. Proverbs 3:5–6 says: "Trust in the LORD with all your heart, and do not lean on your own understanding. In all your ways acknowledge him, and he will make straight your paths." Psalm 37:23 says, "The steps of a man are established by the LORD, when he delights in his way." Romans 12:1–2 gives the requirements for knowing the Lord's will. The first requirement is to present one's body to the Lord as "a living sacrifice, holy and acceptable." The second is to refuse to be conformed to the world. The third is to be transformed by the renewing of the mind. In verse 2 God's will is described as "good and acceptable and perfect."

When a believer's life on earth ends, he enters heaven to be with the Lord forever (see 2 Corinthians 5:8; Philippians 1:20–23).