Verse 28: “Making known to me the way of life, He has filled me up with gladness with His countenance.”

Quoted from Psalm 16v11.

With His countenance: His face, His presence – the outcome of which is His blessing.

Verse 29: “Men, brethren, allow me to speak boldly (frankly, confidently) to you concerning the patriarch David. He is dead and buried and his tomb is with us unto this day.”

The patriarch David: Jewish tradition speaks of David being alive, that death did not dominate Him. In a much greater way (truth triumphing over tradition) Messiah has risen and, before His ascension, He appeared to people, for 40 days, with convincing proof that He is alive.

Verse 30: “Therefore, being a prophet and knowing the oath that God swore to him that from the fruit of his loins, according to the flesh, He would raise up Messiah and sit Him upon his throne.”

Being a prophet: David saw (beforehand) this resurrection. If we believe David then we have to believe in a resurrected Messiah. If we believe in a resurrected Messiah we have to first believe in a crucified Messiah.

The oath: God had made a covenantal promise to David.

Verse 31: “And, seen beforehand, he spoke concerning the resurrection of Messiah that He would not leave His soul in hell nor His flesh to see corruption.”

Seen beforehand: David was a prophet and he saw, ahead of time, what God had planned – the death, burial, and resurrection of Messiah.

Verse 32: “This Yeshua God raised up before all of us, we are witnesses.”

Witnesses: Many of them there would have seen the resurrected Messiah, Yeshua.

Verse 33: “Therefore, at the right-hand, God exalted Him, and the promise of the Holy Spirit have we received from the Father. He poured this One out, now you have seen, and you have heard.”

Peter, using Psalm 16, Jewish tradition etc. speaks about the proper understanding of what was happening to the believers at that time. The only way to rightly grasp this was to understand the work of Messiah, as it related to the pouring out of the Holy Spirit.

Verse 34: “For David did not ascend into the heavens, but he said: “The Lord spoke to my Lord: ‘Sit at my right hand’””

David did not ascend into the heavens: David was not the one whom God raised from the dead.

Verse 35: “until I place your enemies as a footstool for your feet.”

Place your enemies as a footstool: This speaks of victory. Messiah is going to come back to bring victory. He is going to be manifested at the time that His enemies are subdued and put under His feet.

Verse 36: “Therefore let it be known to all the house of Israel, without any doubt, that also Lord and also Messiah God made him – Yeshua whom you crucified.”

Lord: David had already revealed to us that Yeshua (Messiah) is his Lord. If David calls Messiah his Lord then even more so should we, all the house of Israel and all the nations of the world also receive Him.

God made him: God did not create Messiah. This is talking about the fact that God has appointed Yeshua to be both Lord and Messiah.