David asks Joy and God's presence.

“Create in me a pure heart, O God, and renew a steadfast spirit within me. Do not cast me from your presence or take your Holy Spirit from me. Restore to me the joy of your salvation and grant me a willing spirit, to sustain me.” Psalm 51:10-12

'The prayer of David remains registered as an exciting testimony of his brokenness before God and as instruction for all who sin. Your repentance did not originate from fear of punishment or concern for future success. He repented for having violated God himself, his person and his nature. David cried not only for forgiveness, but also for purity; absolution not only, but also for acceptance; not only for comfort but also for a complete purification - at any cost. Although her heart was crushed by shame and sorrow for sin, he knew the great expanse of the great mercy of God. After confessed, sins forgiven and cleansed, see that David is not afraid to ask the choicest gifts of God: Joy, restoration, God's presence, His Holy Spirit. He then humbly offers to be used as an instrument of praise to God and teaching the other offenders. This psalm shows that God accepted his offering.'

(quote: Bible study fullness, page 564)