II Samuel 22:37 Midrash

תַּרְחִ֥יב צַעֲדִ֖י תַּחְתֵּ֑נִי וְלֹ֥א מָעֲד֖וּ קַרְסֻלָּֽי׃

Thou hast enlarged my steps under me, And my feet have not slipped.

Read midrashic interpretation of II Samuel 22:37: and classical rabbinic exegesis.