Psalm 119:17-24

17 Deal bountifully with your servant,
that I may live and keep your word.
18 Open my eyes, that I may behold
wondrous things out of your law.
19 I am a sojourner on the earth;
hide not your commandments from me!
20 My soul is consumed with longing
for your rules at all times.
21 You rebuke the insolent, accursed ones,
who wander from your commandments.
22 Take away from me scorn and contempt,
for I have kept your testimonies.
23 Even though princes sit plotting against me,
your servant will meditate on your statutes.
24 Your testimonies are my delight;
they are my counselors.

This Psalm is the longest of them all. And the central theme as I am understanding it is the love of the law of God. Not all law is bad, when law is good it is delightful. They help us understand the journey of life better. When the law is good you can become consumed with it. You are imagining new ways of goodness and walking in faithfulness. It is there that we find the best counsel.