Psalms 86:4 Midrash

שַׂ֭מֵּחַ נֶ֣פֶשׁ עַבְדֶּ֑ךָ כִּ֥י אֵלֶ֥יךָ אֲ֝דֹנָ֗י נַפְשִׁ֥י אֶשָּֽׂא׃

Rejoice the soul of Thy servant; For unto Thee, O Lord, do I lift up my soul.

Read midrashic interpretation of Psalms 86:4: and classical rabbinic exegesis.