This paints a really really really good picture.
I can see this very well:
You, what I picture you would look like, with outstretched hands, receiving divine prescence.
That last sentence, "prints on the psalms of my hands" is almost to be taken as you receiving God like a prophet. How God inspired Psalm (sounds close to palm) to write what he heard through God down, and that's where "prints" comes from, I would presume.
I'm not religious at all, but I can appreciate this poem.