We are familiar with Psalm 66:18: "If I regard iniquity in my heart, the Lord will not hear me." We need to understand it in its context. Often, this verse makes us question whether God hears our prayers; however, the following verses show that the psalmist had assurance that God heard his prayer because he was not one who cherished sin in his heart. The main emphasis of this psalm is the need to give praise to God. In fact, 14 different ways to praise God are mentioned in this psalm. We can be assured that if God would hear our prayer, then He must hear our praise.
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