Do you agree that the Psalms are Scripture and that all Scripture is true and profitable for training in righteousness and equipping us to do every good work (2 Timothy 3:16-17)? I could not include the citations because of the character limit in signatures, but my signature quotes from Psalms 119:1, Psalms 119:53, Psalms 119:142, and Psalms 119:174. Paul also delighted in obeying the Torah (Romans 7:22), so I think he was on the same page as David.
Titus 2:11-14 For God’s grace, which brings deliverance, has appeared to all people. 12 It teaches us to renounce godlessness and worldly pleasures, and to live self-controlled, upright and godly lives now, in this age; 13 while continuing to expect the blessed fulfillment of our certain hope, which is the appearing of the Sh’khinah of our great God and the appearing of our Deliverer, Yeshua the Messiah. 14 He gave himself up on our behalf in order to free us from all violation of Torah and purify for himself a people who would be his own, eager to do good.
Our salvation involves being trained by grace to do what God has revealed to be godly, righteous, and good, and trained to renounce doing what He has revealed to be ungodly and sinful, which is essentially what the Torah was give to instruct us how to do (Romans 7:7, Romans 7:12). It does not say that Christ gave himself to free us from the Torah, but to free us from living lives in violation of the Torah to purify for himself a people who would be free and zealous to do the good works that it instructs (Acts 21:20). The Torah was given to reveal what sin is (Romans 3:20), without the Torah we wouldn't even know what sin is (Romans 7:7), sin is defined as Torahlessness (1 John 3:4), and Christ was sinless, which means that he set a perfect example of how to walk in obedience to the Torah, and we are told to follow his example (1 Peter 2:21-22), and to walk in the same way that he walked (1 John 2:3-6).