Psalm 32 is one of seven "penitential psalms"---the list consists of Psalms 6, 32, 38, 51, 102, 130, 143. It gives assurance that when one "in whose spirit there is no deceit" comes to God in sincere repentance, that person's sins will be forgiven (vv 1-2). To emphasize this, verses 1-2 use three different words for "sin" and three different words for "forgiveness".
The psalmist (traditionally David) backs up the statements of verses 1-2 with a testimony of his own experience. Responding to God's persistent prompting, he had confessed his sins and was forgiven (vv 3-5).
Psalm 32 is also a wisdom psalm that says the wise thing to do is to follow the example of David. The wise thing to do is to rely upon God, who will provide protection to his people and promises to guide them in the ways of wisdom (vv 6-8).
Verse 9 counsels us not to resist God's instruction like a stubborn animal. That is the way of the wicked, which will not succeed (v 10).
There is much for the wise to be thankful for--God's forgiveness, protection, and instruction---and so they will be glad in the Lord and shout for joy (v 11).
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