John Gill Commentary Psalms 86:4

"Rejoice the soul of thy servant; For unto thee, O Lord, do I lift up my soul." — Psalms 86:4 (ASV)

Rejoice the soul of your servant
With the discoveries of love, of pardoning grace, and mercy, before made sad with sin or sufferings; and with the light of God's countenance, before troubled with the hidings of his face: this may be applied to Christ, in sorrowful circumstances, who was made full of joy with his Father's countenance, (Matthew 26:37Matthew 26:38) (Acts 2:28)

for unto you, O Lord, do I lift up my soul :
in prayer, as the Targum adds; and it denotes the devotion, fervency, heartiness, and sincerity, of his prayer; the doing of it with a true heart, the lifting up of the heart with the hands unto God, (Lamentations 3:41) or by way of offering unto the Lord, not the body only, but the soul or heart also; or as a depositum committed into his hands; so Christ lifted up his eyes, and his heart and soul, to his divine Father; and also made his soul an offering for sin, and at death commended his spirit into his hands, (John 17:1) (Isaiah 53:10) (Luke 23:46) , (See Gill on Psalms 25:1).