Generally God wants us to know what God wants us to do and where God wants us to go. It works the same way in any relationship. As I and my wife 'submit' to one another, we learn more about each other's 'will' and how to please each other. I pray hard and think hard. Here the psalmist contrasts the wicked and the righteous.
Happy people are trustful people.
He leads me with the tenderest care, when paths are dark, and I despair. By His great bounty I am fed, warmed by His love and comforted. There are many verbs in the Bible in the imperative mood. David, who was tempted to think he was accountable only to himself, fell badly. If we ask the right questions, we needn't worry too much if we don't understand all the reasons for God's actions.