John Trapp on Psalms 26:6

Verſ. 6. I will waſh mine hands in innocency] As Exod. 40.32. So 1 Tim. 2.8.Sic Egyptii ſacerdotes apud Herod in Euterpe, tertio quo que die corpus eradunt, &c. See Deut. 21.6. Iſa. 1.15. Iam. 5.8. If in our addreſſes to God we cannot waſh our hands in innocency, yet we muſt waſh them in tears; Quem pocnitet peccaſſe, penè eſt innocens, ſaith Soneca; Penitency is well-nigh as good as innocency; but one way or other be ſure to come clean when you come to Gods Altar, when you draw nigh to him in holy duties. We waſh our hands every day, and often, but when we are to ſit with ſome great perſon, we ſcoure them with balls; ſo here, we muſt be always holy, but eſpecially when we preſent our ſelves to the holy eyes of our Creator; And hereby David differenceth himſelf from the wicked in the uſe of Ordinances, wherein they were as forward as the beſt (Doeg may ſet his foot as farre into the Sanctuary as David, and cry, the Temple of the Lord, &c.) but cared not to come clear thereunto; their hands were full of bloud, their hearts full of wickedneſs.

So will I compaſs thine Altar, O Lord] i.e. I will cover it with Sacrifices and Oblations, and perform what is required of me diligently and cheerfully. The people might not touch the Altar, but only ſee afar off what was done there by the Prieſts.D. Am. Howbeit, thoſe that were more zealous among them, to the end that they might have a full view of the ſervices, ſtood not ſtill in one place, but ſtirred up and down on all ſides of the Altar; and ſome ſuch thing David did, when he is ſaid to have danced before the Lord, 2 Sam. 6.14.