Albert Barnes Commentary Psalms 10:17

"Jehovah, thou hast heard the desire of the meek: Thou wilt prepare their heart, thou wilt cause thine ear to hear;" — Psalms 10:17 (ASV)

Lord, you have heard the desire of the humble — Their desire or their prayer that you would interpose on their behalf in the time of danger, and rescue them. . The word “humble” here refers to those who were poor, downtrodden, oppressed; and the original reference is, doubtless, to the psalmist himself, and to his friends. He was so certain that God would interpose, he had such assurance that his prayer would be answered, that his mind was perfectly calm.

You will prepare their heart — Margin, “or, establish.” The margin seems most accurately to express the meaning of the original word — תכין tākiyn. The idea is that he would settle or confirm their heart; that is, that he would dispel their fears and allay their apprehensions by the assurances of his favor, and by his gracious interposition. They had been full of apprehension and alarm, but the assurances of the divine favor would establish their hearts and give them peace.

You will cause your ear to hear — Another form of expressing assurance of the same thing. The idea is that he would incline his ear, or make it attentive to the cry of his afflicted people.