We Shall Bow down and Worship without Shame

Psalm 138:2

 I will bow down toward your holy temple and will praise your name for your love and your faithfulness, for you have exalted above all things your name and your word....

I will worship towards thy holy temple
Not the temple at Jerusalem, which was not yet built, though, when it was, the Jews in their devotions at a distance looked towards it, ( 1 Kings 8:38 1 Kings 8:40 ) ; but rather the tabernacle of Moses, in which was the ark, as Aben Ezra and Kimchi observe; and over that the mercy seat and cherubim, between which Jehovah dwelt; and this being a type of Christ's human nature, which was perfectly holy, and is called by himself a temple, and is the true tabernacle God pitched, and not man, ( John 2:19 ) ( Hebrews 8:2 ) ; he may be designed, and to him, as Mediator, should we look, and with him deal in all our devotions for acceptance with God; see ( Jonah 2:4 ) ; unless heaven itself is meant, which is the palace of Jehovah, the habitation of his holiness, his temple where he dwells, ( Psalms 11:4 ) ( Habakkuk 2:20 ) ;
and praise thy name, for thy lovingkindness and for thy truth,

Which may primarily regard the goodness and grace of God in promising David the kingdom, and his faithfulness in making good the promise, and for both which he was under obligation to praise the name of the Lord; and holds good with respect to all other promises: and it may also signify the free favor and love of God to his people, which is from everlasting, is the source of all blessings, and is better than life; and the faithfulness of God to himself, his perfections, purposes and promises, council and covenant: it may be rendered, "for thy grace, and for thy truth, which both come by Christ, ( John 1:17 ) ; grace may intend both the doctrine of grace, the Gospel of the grace of God preached by Christ, and the blessings of grace which come through him; as justification, pardon, adoption, sanctification, and eternal life, which are all of grace, and by Christ: and truth also may signify the word of truth, or solid substantial blessings, in distinction from typical ones; or the good things that come by Christ our High Priest, of which the law was only a shadow; and these are all of them things the name of the Lord is to be praised for.

Every good man is most concerned about his duty to God and his happiness in God, that the former may be faithfully done and the latter effectually secured and if indeed these are the things that our hearts are most upon, and concerning which we are most solicitous, there is a good work begun in us, and he that has begun it will perfect it, we may be confident he will, Philippians 1:6. Observe, (1.) What ground the psalmist builds this confidence upon: Thy mercy, O Lord! endures for ever. This he had made very much the matter of his praise (Psalm 13:6), and therefore he could here with the more assurance make it the matter of his hope. For, if we give God the glory of his mercy, we may take to ourselves the comfort of it. Our hopes that we shall persevere must be founded, not upon our own strength, for that will fail us, but upon the mercy of God, for that will not fail. It is well pleaded, "Lord, thy mercy endures for ever let me be for ever a monument of it." (2.) What use he makes of this confidence it does not supersede, but quicken prayer he turns his expectation into a petition: "Forsake not, do not let go, the work of thy own hands. Lord, I am the work of thy own hands, my soul is so, do not forsake me my concerns are so, do not lay by thy care of them." Whatever good there is in us it is the work of God's own hands he works in us both to will and to do it will fail if he forsake it but his glory, as Jehovah, a perfecting God, is so much concerned in the progress of it to the end that we may in faith pray, "Lord, do not forsake it." Whom he loves he loves to the end and, as for God, his work is perfect.

David's psalm of thanksgiving begins with individual praise.
Since Solomon's temple has not yet been built, David worships towards the tabernacle instead. He worships God for his steadfast love and faithfulness.

Is there something hold you back from worship today? Worship God where you are -- you don't have to wait for the "perfect" church, special place, moment or time to praise God.