Psalm 143

Save me, O Lord, from my enemies;
I have fled to you for refuge.
Teach me to do your will,
for you are my God.
Let your good spirit lead me
on a level path.

Teach me to do your will.

לַמְּדֵנִי, לַעֲשׂוֹת רְצוֹנֶךָ--

There are only two Hebrew words: teach and do.

I'm not sure how the translators infer God's will.

Teach me to do. Teach me to do what present reality -- your reality -- requires. Teach me to do what is right. Teach me to do what is helpful. But in any case, teach me to take action.

Teach me to do.

Psalm 143