What does Psalm 26:6 mean?

In this verse David avows his innocence. He is free of hypocrisy. The wicked tried to hide their sins when they visited the tabernacle, but David was innocent. His worship is pure as he goes around the Lord's altar in the tabernacle.

In Psalm 43:3–4, the psalmist prays: "Send out your light and your truth; let them lead me; let them bring me to your holy hill and to your dwelling! Then I will go to the altar of God, to God my exceeding joy, and I will praise you with the lyre, O God, my God." According to Exodus 30:17–21, the priests were commanded to wash their hands and feet before performing their duties. This was not only practical, but it was also powerful symbolism: they needed to pursue purity to render sincere worship and service to the Lord.