I sought the LORD, and He heard me, and delivered me from all my fears.
All human beings face fears and worries, and sometimes those fears are of real and deadly dangers. David praised God for hearing his prayers and delivering him from real danger. The superscription of this psalm says that David wrote it after God helped him escape from the Philistine leader Abimelech.
David goes on to say that “the angel of the LORD encamps all around those who fear Him, and delivers them” (verse 7). God’s protection allows His people to not be ashamed (verse 5).
For more about God, see the section on “Who Is God?”