David calls on the Lord to come quickly to his aid. Incense and the sacrifice are allusions to the temple worship. The incense was offered up to God, and David asks God to receive his prayers in the same way. The sacrifices atoned for the people's sins. David asks that his lifting up of his hands work in the same way. In doing this David is putting his trust in God, looking to Him for mercy.
When confronted by evil and danger it is easy to be drawn into following evil ways, to following foolish paths. David asks that God protects him from doing this. We must recognise our own frailty, our own propensity to go down the wrong route. We need God to guard our hearts and minds.
It is far better to be "struck" by a righteous man. What David means here is that it is better to be rebuked and disciplined by a good man than to be flattered by an evil one. A mark of maturity is that we are willing to accept correction.
The wicked will come to nothing, they will be destroyed.
We, however, should look always to the Lord, this is the only way to true safety.
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