Ps. 23

When David paints the picture of the shepherd and the sheep in v.1-2 he wants to express something about his soul v.3. It is a picture of satisfaction. He knows that the Lord restores his soul and bring him to righteousness. Therefore, even he walks in the valley of darkness he will fear no evil. God is not only guidance v.3-4, but also his source of blessing v.5-6. (The table before the enemies and the anointing of the head symbolizes the blessings).
Yes, we need rest physically, but more important this passage talks about our rest in the soul. We get rest/satisfaction in the soul when we trust that (1) God is our guidance in the path of righteousness; (2) He loves us abundantly.

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