I shouldn't have to point this out but I will.
Since David was Old Covenant he was literally under and held to the law, of course he embraced and loved it. He saw the law as his connection to God. Today under the New Covenant not only has Christ fullfilled and completed the law...the replacement is beautiful and the indwelling Spirit is our connection to God as well as our helper in obeying the 2 commands we have left.
You forgot to point out that David was in the Holy Spirit and spoke of Jesus and the NC. And you forgot to mention that we cannot obey the 2 commandments you cited while disobeying these: "Thou shalt not commit adultery, Thou shalt not kill, Thou shalt not steal, Thou shalt not bear false witness, Thou shalt not covet".
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