The penitent pleas with the Lord in the 13th verse to keep him close:

Psalm 51:13: “Do not drive me from your presence, nor take from me your holy spirit.”

(Via USCCB.)

A persistent fear that the sin was so grievous that God may cause banishment as a consequence of the penitent’s action motivates the sinner to plead for additional mercy. The penitent prays to remain in God’s presence, and to continue to receive His guidance through the workings of the Holy Spirit. The penitent desires not to be lost forever, for without God’s presence and guidance, Hell is certain.

Ask God to remain near. He is always close to the humble and sorrowful.

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