(from Stephanie)

Amplified
Psalm 37:23 The steps of a [good and righteous] man are directed and established by the Lord,
And He delights in his way [and blesses his path].
24 When he falls, he will not be hurled down,
Because the Lord is the One who holds his hand and sustains him.

Falling, could be that we mess up but because God is our righteousness we don’t have to stay there. Or it could be that when we are weary in our walk, God is there to lift us up and carry us with His supernatural strength and rest. Either way we can trust the Father is faithful.
A good and righteous man, someone who is actively seeking the Lord and doing His will. That man will know what direction to take God will reveal it to him.