The term paths
literally refers to wagon tracks.
Instead of walking on the ways of the violent
(Psalm 17:4), David’s steps have held fast to the wagon tracks of the Lord, which is the way of godliness. As such his feet have not slipped, whereas those who do disobey are on slippery ground and will totter on account of unstable steps.1
5 My steps have held fast to your paths; my feet have not slipped.