John Gill Commentary 2 Samuel 19:26

"And he answered, My lord, O king, my servant deceived me: for thy servant said, I will saddle me an ass, that I may ride thereon, and go with the king; because thy servant is lame." — 2 Samuel 19:26 (ASV)

And he answered, my lord, O king, my servant deceived me
His servant Ziba, who, instead of saddling an ass for him by his order, went off with that and another himself, (2 Samuel 16:1) ; for your servant

said, I will saddle me an ass ;
he not only determined this in his own mind, but gave orders to his servant to saddle one for him:

that I may ride thereon, and go to the king, because your servant [is]
lame ;
and could not walk afoot, being lame of both his feet, (2 Samuel 4:4) (2 Samuel 9:3 2 Samuel 9:13) .