Psalm 16 is a Davidic psalm of confidence and refuge, expressing deep trust in God as the ultimate source of goodness, guidance, and joy, not in idols or fleeting pleasures, declaring God as his "portion" and "inheritance". The speaker commits to God's presence, finds instruction in his inner being, and anticipates God's saving power from death and the grave, ultimately finding fullness of joy and eternal pleasure in God's presence, a promise seen as fulfilled in Jesus' resurrection.