This Psalm explains a lot of the past days in Israel’s history. Yes, He did give them instruction as to what the people were to bring to God in the many, many sacrifices. There was nothing wrong with the sacrifices. What God is telling in this Psalm is that He is not complaining about the sacrifices, but about what the people were going on with, their bad practices, their wicked ways with each other, at the very time they were doing these sacrifices. You can see what God is saying to us today. We might give an outward appearance of being holy by attending a religious service and at the same time be going on in sin.
V.23 Tells us what HE has done — given the one sacrifice for sin, the Lord Jesus. Notice the last part of that verse — is our daily life in keeping with this sacrifice?