Charles H. Spurgeon on Psalms 143:6

I stretch forth my hands unto thee. He was eager for his God. His thoughts of God kindled in him burning desires, and these led to energetic expressions of his inward longings. As a prisoner whose feet are bound extends his hands in supplication when there is hope of liberty, so does David. My soul thirsteth after thee, as a thirsty land. As the soil cracks, and yawns, and thus opens its mouth in dumb pleadings, so did the Psalmist's soul break with longings. No heavenly shower had refreshed him from the sanctuary: banished from the means of grace, his soul felt parched and dry, and he cried out, "My soul to thee"; nothing would content him but the presence of his God. Not alone did he extend his hands, but his heart was stretched out towards the Lord. He was athirst for the Lord. If he could but feel the presence of his God he would no longer be overwhelmed or dwell in darkness; nay, everything would turn to peace and joy. Selah. It was time to pause, for the supplication had risen to agony point. Both harp strings and heart strings were strained, and needed a little rest to get them right again for the second half of the song.