Psalm 34's title says it is By David, when he pretended to be insane before Abimelech, who drove him away, and he departed. Coming out of danger, David vows, I will bless Yahweh at all times. His praise will always be in my mouth, and he calls the humble to join him. I sought Yahweh, and he answered me, and delivered me from all my fears. They looked to him, and were radiant.
David then describes God's protection. Yahweh's angel encamps around those who fear him, and delivers them. Oh taste and see that Yahweh is good. Blessed is the man who takes refuge in him. Even young lions lack and go hungry, but those who seek Yahweh shall not lack any good thing. In the New Testament, Peter echoes verse 8 when he speaks of those who have tasted that the Lord is gracious (1 Peter 2:3).
Finally David teaches like a father: Come, you children, listen to me. Whoever wants a long, good life must keep his tongue from evil, depart from evil, do good, and seek peace and pursue it. Yahweh's eyes are toward the righteous, and his ears listen to their cry. Yahweh is near to those who have a broken heart, and saves those who have a crushed spirit. Many are the afflictions of the righteous, but Yahweh delivers him out of them all. He protects all of his bones. Not one of them is broken. In the New Testament, John sees this fulfilled when none of Jesus' bones were broken at the cross (John 19:36).