Psalms 102:20

To hear the groaning of the prisoner; to loose those that are appointed to death;

The verse sets forth anew God's plan for the salvation of the heathen after that plan had been almost wholly lost sight of in the years following the occupation of the Promised Land. It pictures the Lord looking down from the height of His sanctuary in heaven upon the earth. From there He hears the groaning of suffering prisoners and sets free those appointed to death, those condemned to die.

This deliverance is so that His name will be declared in Zion and His praise proclaimed in Jerusalem. It looks forward to peoples and kingdoms being gathered together to serve Him. It also points to a coming generation that will be created to praise Him.