From Psalm 119, as translated by Eugene H. Peterson:
You're blessed when you stay on course,
walking steadily on the road revealed by God.
You're blessed when you follow his directions,
doing your best to find him.
That's right—you don't go off on your own;
you walk straight along the road he set.
You, God, prescribed the right way to live;
now you expect us to live it.
Oh, that my steps might be steady,
keeping to the course you set;
Then I'd never have any regrets
in comparing my life with your counsel.
I thank you for speaking straight from your heart;
I learn the pattern of your righteous ways.
I'm going to do what you tell me to do;
don't ever walk off and leave me.