וַיַּעֲלֵ֤נִי ׀ מִבּ֥וֹר שָׁאוֹן֮ מִטִּ֪יט הַיָּ֫וֵ֥ן וַיָּ֖קֶם עַל־סֶ֥לַע רַגְלַ֗י כּוֹנֵ֥ן אֲשֻׁרָֽי׃
He brought me up also out of the tumultuous pit, out of the miry clay; and He set my feet upon a rock, He established my goings.
Read halakhic rulings (Jewish law) on Psalms 40:3: and classical halakhic sources.