Tehillim ch.20 is part of our daily liturgy.
We also relate to this Midrash:
Another interpretation: "The Lord will answer you on a day of trouble." A father and son were traveling when the son became tired and asked his father, "Where is the country?" The father replied, "My son, if you see a cemetery in front of you, know that the country is close to you." So the Lord said to Israel, "If you see that troubles are covering you at that time, you will be redeemed," as it is said, "The Lord will answer you on a day of trouble
