2 I have seen you in the sanctuary and beheld your power and your glory. 3 Because your love is better than life, my lips will glorify you. 4 I will praise you as long as I live, and in your name I will lift up my hands. 5 I will be fully satisfied as with the richest of foods; with singing lips my mouth will praise you.
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I would say that the lifting of the hands in prayer is both a recognition of God being greater or more exalted (and thus "higher") than the person praying, and also a gesture of entreaty or pleading (as humans might do between themselves, but (in the case of humans) with the hands being held out (rather than up) to the other person because humans are on the same "level").
This is a symbol for God's elevation in worship. It does not, however, mean it's the only symbol to exalt God; we can exalt the Lord in different ways. King Solomon spread out his hands in worship (2 Chronicles 6:12); Abraham's servant bowed down to worship the Lord (Genesis 24:26); the twenty four elders fell down before Him who sits on the throne and worshiped Him (Revelation 4:10), etc... David felt that was the best way for him to worship God at that time, and we can as well be led to worship God with any style as long as our spirit agrees with it.
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