Albert Barnes Commentary Psalms 51:8

"Make me to hear joy and gladness, That the bones which thou hast broken may rejoice." — Psalms 51:8 (ASV)

Make me to hear joy and gladness—that is, the voice of forgiveness, causing joy and rejoicing. What he wished to hear was the kind voice of God pronouncing his pardon; not the voice of anger and condemnation.

God now condemned him. The law condemned him. His own conscience condemned him. The result was anguish and sorrow.

The burden was great and overpowering—such as to crush him and to break all his “bones.” He longed to hear the sweet voice of forgiveness, by which he might have peace, and by which his soul might be made to rejoice. Compare the notes at Psalms 32:1-2.

That the bones which you have broken may rejoice—that is, which have been crushed or broken by the weight of sin. Compare the notes at Psalms 32:3. See also Psalms 6:2; Psalms 22:14; Psalms 31:10; Psalms 38:3. The word “rejoice” here means to be free from suffering; the prayer is that the burden that had crushed him might be removed.