Continuing on in our Psalm narrative where David is talking about the wicked, he asks God to curse them

Psa 5:10  Make them pay, God; Have them fall by their own schemes! Scatter them in the multitude of their wrongdoings, For they are rebellious against You. 

David is saying, let them fail on their own devices, let whatever evil they are trying to cast out, come back to them because their most egregious sin is against God.  

In the following verse David then speaks about those who choose the right path, not the wicked one

Psa 5:11  But rejoice, all who take refuge in You, Sing for joy forever! And may You shelter them, That those who love Your name may rejoice in You.

Psa 5:12  For You bless the righteous person, LORD, You surround him with favor as with a shield. 

Those two verses remind us that we should always worship God and we do that by trusting and obeying Him.  By doing that, it keeps us out of trouble and as that last bit says, God surrounds us with His favor like a shield, guarding us from bad things that might happen, like getting tripped up by our own sins….so we should remember; worship God and trust God and obey God.