בַּ֭אֲשֻׁרוֹ אָחֲזָ֣ה רַגְלִ֑י דַּרְכּ֖וֹ שָׁמַ֣רְתִּי וְלֹא־אָֽט׃
내 발이 그의 걸음을 바로 따랐으며 내가 그의 길을 지켜 치우치지 아니하였고
Rashi
to His path Heb. באשרו, to His path, like (below 31:7), “If my foot (אשרי) has turned away from the road”; (Ps. 40:3), “He has established my paths (אשרי).”