The Repentant Heart is a Broken Heart
David wanted to just cover it his and move on with his life, but God wanted more for him than that. David's heart is broken here after seeing a glimpse of God's goodness. He wants to enjoy walking with God again. He is still saved but has stopped enjoying God. Walking with the Lord is the best way to be happy. God is not trying to restrict or suppress us but wants the best for us. He breaks us to show us our need, to cause us to turn to Him. He is willing to restore our joy.