Baggage Claim (Psalm 51)

Imagine this for a moment. Your best friend has just dropped you off at the airport terminal and you're standing at the check-in counter along with your mountain of baggage. You definitely want to carry all of that baggage on board the plane with you, but the cleanly-dressed gentleman working behind the counter says you need to check-in your baggage because its large, heavy, and extremely cumbersome for you to carry-on. As much as you desire to take all of your baggage as carry-on, it's just not going to happen; you're certainly not going to be flying on that airplane unless you a) call up your bestie and leave most of your heavy baggage with him or her, b) check-in the baggage, or c) don't travel. Obviously c) is not a choice; but whether you choose a) or b), you're "letting go" of your baggage in some way, shape, or fashion. That baggage keeps you from moving forward on your schedule.
Similarly, our shame, regret, and guilt (collectively, emotional baggage) about our past sins prevent us from progressing along our individual Christian walks. In Psalm 51, David first confesses his sin and expresses regret towards God for his sinful actions. Secondly, David promises to learn from his past transgressions while educating and converting sinners. God forgives his sincere and penitent heart.
With our emotional baggage, we have the same choices as a traveler at the airport. We can lighten our load of baggage by leaving it at the door, or better yet, we can seek the help of a professional baggage handler. Our professional baggage handler is God. David "made it right" with God, and as Christians, the gift of Jesus Christ allows to surrender our regrets to the Father. Follow David's example and don't be let the guilt of your sin keep you from living for Christ!