Four ways: The poor, the devout, servants, those who sanctify Hashem
Rabbi Elazar goes on to say that King David placed himself among the poor, the pious, the servants, and those who are willing to sacrifice their lives for the sanctification of God's name. We learn that when people are confessing and repenting they do not have to worry about the sins they don't remember, just the ones they do. Rabbi Elazar says that all people need to do as King David did, and that acting as a servant to God includes being pious, poor and willing to offer one's soul for the glorification of God. When someone has done all these things with a willing heart he is acceptable to God, and God calls him His servant and listens to his prayers. The rabbis talks further about the meaning of 'servant' and what the effect of prayer is. They describe the times each day when the Other Side wanders around the world and during which people should pray. The Other Side brings darkness but the windows of the upper lights are opened above those who are praying, and these lights are dispersed over their heads. Anyone who has not come to the synagogue at this time of prayer "walks in darkness" since he is under the dominion of the Other Side.