Psalm 51, is regarded as a heart cry and a prayer of repentance, pardon and thanksgiving to God by King David after he had sinned against the Lord by committing adultery with Bathseba, killing her husband Uriah and hiding the sin for at least several months. It is the way to restore us to be all that God wants us to be and do for His Kingdom. We may have sinned against the Lord in ways other than David did at this point in his life. However, we can still make this our own cry to God and receive similar blessings from Him when we repent like King David. Here then is the Scriptural way to obtain healing for our backslidings in, Finding Our Way Back To God.
 

Psa 51:1 Have mercy upon me, O God, according to Thy lovingkindness: according unto the multitude of Thy tender mercies blot out my transgressions.

We can make a direct appeal to God, Who is very, very loving and merciful. He is able to take away those wicked sins we have done!

Psa 51:2 Wash me throughly from mine iniquity, and cleanse me from my sin.

Not only take away my sins and the guilt but also wonderfully, God can actually make me clean even if I have been, "dirtied" from my sin and guilt for years.

Psa 51:3 For I acknowledge my transgressions: and my sin is ever before me.

Honest confession must be made to God, however. The haunting nature of my sins will be readily acknowledged, but they must also be confessed honestly to the Lord. It will do no good to cover up the extent or horror of my sins or try to save face before an all-knowing God.

Proverbs 28:13 states : He that covereth his sins shall not prosper: but whoso confesseth and forsaketh them shall have mercy.

Psa 51:4 Against Thee, Thee only, have I sinned, and done this evil in thy sight: that Thou mightest be justified when Thou speakest, and be clear when Thou judgest.

Violating a Holy God's commandments and insulting Him; this must be the very first reason for my fear and sorrow over my sin. His Justice in rightfully punishing me for the violation must be acknowledged.

Psa 51:5 Behold, I was shapen in iniquity; and in sin did my mother conceive me.

I am a sinner by my fallen nature as well as by my vile deeds.  I must understand how I fall short because of my weak frame but must not shirk my responsibility to keep myself from sinning against God by seeking Him.

Psa 51:6 Behold, Thou desirest truth in the inward parts: and in the hidden part Thou shalt make me to know wisdom.

The Lord wants sincerity. He wants us to keep His Word; His commandments. He is able to restore this kind of good heart when we have terribly left His Righteous Way, provided we confess and forsake our sin while holding fast to His Mercy.

Psa 51:7 Purge me with hyssop, and I shall be clean: wash me, and I shall be whiter than snow.

Use what You will to clean me up, O Lord. The Eternal Hyssop (some twigs used in sprinkling sacrificial blood in Old Testament times) is the Blood of His Son, the Lord Jesus Christ. It is effective in making us, "whiter than snow" even if we have become a dark figure through our sins.

Psa 51:8 Make me to hear joy and gladness; that the bones which Thou hast broken may rejoice.

I am crushed by my own iniquities, but more so by God's law which condemns me.  He still can give me back joy and gladness when I turn my heart to Him.

Psa 51:9 Hide Thy face from my sins, and blot out all mine iniquities.

Lord, not only one or two of my sins take away, but my whole history of sinning against thee! You can make it all go away and I will never have to pay the penalty for them!

Psa 51:10 Create in me a clean heart, O God; and renew a right spirit within me.

Make me to be once more that which I cannot be of my own efforts; sparkling clean and holy. "Create" a brand new, effective work in me to make me like Your child ought to be.

Psa 51:11 Cast me not away from Thy presence; and take not Thy Holy Spirit from me.

Don't leave me God, please. Don't allow Your Spirit, Whom I have grieved to depart from me. I need You desperately and forever.

Psa 51:12 Restore unto me the joy of Thy Salvation; and uphold me with Thy free Spirit.

Not just joy, but the joy of knowing You as one of Your precious and beloved children. Sustain me by the Power of the Holy Spirit Who is (free) very gracious and liberal toward me.

Psa 51:13 Then will I teach transgressors Thy ways; and sinners shall be converted unto Thee.

With complete pardon of my sins and cleansing by Your Blood and the Work of the regenerating Holy Spirit, I can preach and the preaching will be blessed by You and effective in turning sinners to You.

Psa 51:14 Deliver me from bloodguiltiness, O God, Thou God of my salvation: and my tongue shall sing aloud of Thy righteousness.

My murderous thoughts and acts, the guilt of it all, my Savior please take that away too. Then I can truly and sincerely sing and praise You for all Your righteousness which You have done by giving me Your Holy Life for my wicked one, through the Sacrifice of Your Son, Jesus Christ.

Psa 51:15 O Lord, open Thou my lips; and my mouth shall shew forth Thy praise.

These lips which have been shut in sin and guilt and embarrassment and fear, open them God. If You open them, praise to You will rightfully issue forth!

Psa 51:16 For Thou desirest not sacrifice; else would I give it: Thou delightest not in burnt offering.

External acts of devotion and piety I can easily do. You want a right heart first, O God. A right state of heart (that's been cleansed) and a clear conscience by the Blood of Jesus in a heart full of faith first.

Psa 51:17 The sacrifices of God are a broken spirit: a broken and a contrite heart, O God, Thou wilt not despise.

One of the definitions of broken is, "crushed" by grief in the Hebrew (shabar). Contrite also means, "collapsed" as well as penitent or sorry for sin in the Hebrew (dakah). Utterly crushed and collapsed should be my state before You. All pride of self-righteousness and excuses cast away, a broken spirit and contrite or penitent heart is what You are looking for. One that's truly sorry for offending You and one that's repentant; that is determining never to go back again and taking all the steps to leave the sins and forsake them finally.

Psa 51:18 Do good in Thy good pleasure unto Zion: build thou the walls of Jerusalem.

Continue to bless Your great plan, O God. Your plan for all Your children including me. Be pleased to bless us once again; make us strong and prosperous again.

Psa 51:19 Then shalt Thou be pleased with the sacrifices of righteousness, with burnt offering and whole burnt offering: then shall they offer bullocks upon Thine altar.

Then all the externals, the proper works will be acceptable to You as we acknowledge that it is Your great mercy and forgiveness that makes us right before You once more!