The answer is: Psalm 139

Psalm 139:1-2 - This Psalm beautifully illustrates God’s omniscience and intimate knowledge of our lives. David expresses awe at God's ability to know our thoughts, actions, and even our resting places. This theme resonates throughout Scripture, emphasizing the deep relationship believers have with God, as seen in Jeremiah 1:5 where He knew us before birth.

Psalm 139 is a stunning affirmation of the depth of the relationship between humanity and the Divine. When David opens with "O Lord, thou hast searched me, and known me," he isn’t merely making an observation; he is inviting us to marvel at the concept that we are seen and understood wholly.

The psalm unfolds like a tender conversation, revealing layers of intimacy. It speaks to everyone who has ever felt lost or alone, offering comfort in the knowledge that there is no corner of our hearts that goes unnoticed. Verse 4 emphasizes God's knowledge of our words, before they're even on our lips—imagine the trust embedded in that reality!

Additionally, not only does God know us fully, but this psalm invites us to examine ourselves too. It encompasses the famous lines about God's presence in both our highest highs and lowest lows—a reminder that we’re never outside the reach of divine comfort. Another fascinating note is that this Psalm has influenced many artists and poets. Johann Sebastian Bach even referenced its themes in his music!

When you dig deeper into the Bible, you find that Psalm 139 echoes the sentiment of other passages from Isaiah wherein God assures us of His relentless pursuit of love, care, and understanding. Tighten your relationship with this sense of belonging, as it reflects a foundational truth: you are worthy of being known, cherished, and nurtured in every aspect of who you are.