My foot hath held, i.e. made a free and fixed choice, and taken fast hold of them; been firmly and strongly settled, and resolved to continue in them, as the word signifies. His steps; either,
1. Actively, the steps or ways in which God himself walks; the paths of holiness, justice, mercy, &c., wherein he walked with or after God, as the phrase is, Genesis 5:24 2 Kings 23:3, following his example. Or,
2. Passively, the steps or paths which God hath appointed men to walk in, as Job 21:14. His way have I kept, and not declined; the same thing with that in the former part of the verse, in different expressions.