# us ... our

These words refer to David and the people he is speaking to. (See: [[rc://en/ta/man/translate/figs-exclusive]])

# he does not permit our feet to slip

The writer speaks of God's protection as preventing his people from slipping as they walk or falling off a cliff. Alternate translation: "he has not allowed us to fall into disaster" (See: [[rc://en/ta/man/translate/figs-metaphor]])