In Psalm 5 David contrasts himself with the wicked. Of the wicked he says,

For you are not a God who delights in wickedness; evil may not dwell with you. The boastful shall not stand before your eyes; you hate all evildoers.
Psalm 5:4–5

Of himself, David acknowledges,

But I, through the abundance of your steadfast love, will enter your house. I will bow down toward your holy temple in the fear of you.
Psalm 5:7

David is not drawing out this contrast to make himself look good. He is acknowledging that it is only through God’s steadfast, covenental love that he is able to enter the presence of the Lord. He also acknowledges that he approaches the Lord in humility and reverence.

Throughout scripture we are reminded that our ability to have relationship with God has nothing to do with our own merits but it is simply a gift of grace. We are able to approach the Lord in confidence not because of anything that we have done but because of who He is and what He has promised.

Our confidence is in Him and Him alone. Let us enter into His presence and worship and bow down.