Verses 6-12 demonstrate how God watched over Israel, provided over them on their nights, brought deliverance to them as they crossed the Red Sea on dry land, who was with His people by not even letting their foot slip, and even when enduring troubles, tribulations, when they go through the fire of testing, the Lord helps them through it.
So that is why we praise and worship for all that He does for us. We sacrifice our offerings to the Lord. Romans 12:1 calls our bodies as living offerings sacrificed to the Lord. But I think the greatest verses is in verse 19-20 where the Psalmist says, “But truly God has listened; he has attended to the voice of my prayer. Blessed be God, because he has not rejected my prayer or removed his steadfast love from me!” God hears our prayers and He doesn’t ignore us no matter how ridiculous we sound or how desperate we are in need of Him to comfort and answer when we call out to Him. He hasn’t also removed His steadfast or enduring love from us. He continues to maintain and keep His love upon us no matter how much we sin or fall short of His grace. His mercy and love is so enduring, that leads us to praise, sing, short, and worship God forever and ever.