God in the Psalms inclines His ear to hear us. In Isaiah it’s our responsibility to incline our ears to listen to His voice.
We can allow Him to change us if we recall what he says. If we listen and take it to heart we find mercies sure and eternal. God gives mercy to us like He did to David in spite of his sin. That’s what mercies are for – all the mistakes a person can make.
Incline your ear, and come unto me. Hear and your soul shall live;and I will make an everlasting covenant with you, even the sure mercies of David.