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I will walk securely

To walk securely is to live one's life securely. AT: "I will live securely in God" (See: rc://en/ta/man/translate/figs-metaphor and rc://en/ta/man/translate/figs-explicit)

I seek your instructions

To "seek" is to perceive, or gain understanding of God's instructions as if one can see them. (See: rc://en/ta/man/translate/figs-idiom)

solemn commands before kings

"serious commands to kings" or "instructions to kings"