“He brought me out into a spacious place; He rescued me because He delighted in me.” Psalm 18:19
Eden means delight. We were created to be the delight of God and to find our delight in Him. Delight means, “to be greatly pleased in.”
Why did David believe that God delighted in him? I think it was because he refused to hide anything from God. We see his prayer life in Psalms and nothing is hidden. His joys, his sins, his pains, his loneliness, his anger and frustration; whatever David was going through, he was going through with God.
Delight was lost in Eden when Adam and Eve hid from God because of shame. And then even the word delight is almost entirely lost in Scripture until David, who believed he was a delight to God, and who invited all of us to “delight” ourselves in the Lord. (Psalm 37:4)
I see a picture of how God can delight in us when I observe my wife with our grandsons. They make huge messes and make constant demands, yet how does she treat them after they treated her in this way? Pure delight, and there’s seemingly nothing they can do to change this. She can’t stop smiling when she holds them, changes them, feeds them, and reads to them. Everything new they do requires a picture, so she now has a thousand pictures and videos on her phone.
This is how God feels about us when we don’t live hiding from Him. He can handle the mess we make and do all the work required to take care of us. Our ways may please or displease Him from time to time, but make no mistake about this: we are His delight!