Albert Barnes Commentary Psalms 17:6

"I have called upon thee, for thou wilt answer me, O God: Incline thine ear unto me, [and] hear my speech." — Psalms 17:6 (ASV)

I have called upon you, for you will hear me, O God - The meaning of this is, “I have called on you previously, and will do it still, because I am certain that you will hear me.” That is, he was encouraged to call upon God by the conviction that he would hear his prayer and would grant his request. In other words, he came to God in faith; in the full belief of his readiness to answer prayer and to bestow needed blessings. Compare John 11:42 and Hebrews 11:6.

Incline your ear to me - See the notes at Psalm 17:1.

My speech - My prayer. The reference here, as in Psalm 17:1, is to prayer “uttered” before God, and not mere mental prayer.