23 <poetry>The steps of a man are established by the <smallCap>Lord</smallCap>, <indent>when he delights in his way;</indent> </poetry> 24 <poetry> though he fall, he shall not be cast headlong, <indent>for the <smallCap>Lord</smallCap> upholds his hand.</indent></poetry>

The <cr>1</cr>steps of a man are <cr>2</cr>established by the <smallCap>Lord</smallCap>, <indent>when he delights in his way;</indent>

Psalm 37:23

<cr>1</cr>though he fall, he shall not be cast headlong, <indent>for the <smallCap>Lord</smallCap><cr>2</cr>upholds his hand.</indent><pb/>

Psalm 37:24

 23 The  steps of a man are  established by the Lord, when he delights in his way;  24  though he fall, he shall not be cast headlong, for the Lord upholds his hand. 

From Wikipedia: 

The English Standard Version (ESV) is an English translation of the Bible. The ESV was published in 2001 by Crossway, having been "created by a team of more than 100 leading evangelical scholars and pastors." The ESV relies on recently published critical editions of the original Hebrew and Greek texts. Crossway claim that the ESV continues a legacy begun by the Tyndale New Testament of precision and faithfulness in English translation of the original text, followed in the same standard by "the King James Version of 1611 (KJV), the English Revised Version of 1885 (RV), the American Standard Version of 1901 (ASV), and the Revised Standard Version of 1952 and 1971." Crossway describes the ESV as a translation that "emphasizes 'word-for-word' accuracy, literary excellence, and depth of meaning." Crossway also describes the ESV as a translation that adheres to an "essentially literal" translation philosophy, taking into account "differences in grammar, syntax, and idiom between current literary English and the original languages."

The ESV is derived from the 1971 text edition of the Revised Standard Version (RSV). ESV Translation Oversight Committee member Wayne Grudem claims that approximately eight percent (or about 60,000 words) of the 1971 RSV text being used for the ESV was revised as of first publication in 2001. Grudem states that the committee removed "every trace of liberal influence that had caused such criticism from evangelicals when the RSV was first published in 1952." Although, Grudem also states that much of the 1971 RSV text left unchanged by the committee "is simply 'the best of the best' of the KJV tradition."

With regard to gender language, the ESV Translation Oversight Committee state that "the goal of the ESV is to render literally what is in the original."[9] The committee expands on this position in claiming that, although the ESV avoids using gender-neutral language (for the purpose of preserving contextual meaning found in the original text), the translation does utilize gender-neutral language in specific cases. The committee further state that their objective was "transparency to the original text, allowing the reader to understand the original on its own terms rather than in the terms of our present-day Western culture."[9] The ESV Study Bible often details in its commentary why a complementarian interpretation of the original text may have been rendered in translation.

OT: Biblia Hebraica Stuttgartensia (5th ed., 1997); additional sources in difficult cases
NT: UBS Greek New Testament (5th corrected ed.); Novum Testamentum Graece (28th ed., 2012)

Psalm 37:23-24 ESV

Psalm 37:23-24 ESV

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