²³ The Lord makes firm the steps^(A)
    of the one who delights^(B) in him;

⁵ Trust in the Lord^(A) with all your heart
    and lean not on your own understanding;
⁶ in all your ways submit to him,
    and he will make your paths^(B) straight.^[a](C)

⁹ In their hearts humans plan their course,
    but the Lord establishes their steps.^(A)