And not only Psalm 23. Jesus fulfills every psalm (Luke 24:44). Every agony, anguish, loneliness, the full range of human pain expressed in the Psalms—he experienced it more deeply than we do, and he bears us up now as we experiences these pains. And the guilt and sins confessed in the Psalms, Jesus never personally experienced, but he bore the penalty for them all upon that The whole Psalter is an arrow pointing to Jesus.

Dane Ortlund

The Lord is my shepherd; I shall not want. 2He makes me lie down in green pastures. He leads me beside still waters. 3He restores my soul. He leads me in paths of righteousness for his name’s sake. 4Even though I walk through the valley of the shadow of death, I will fear no evil, for you are with me; your rod and your staff, they comfort me. 5You prepare a table before me in the presence of my enemies; you anoint my head with oil; my cup overflows. Surely goodness and mercy shall follow me all the days of my life, and I shall dwell in the house of the Lord forever. (Psalm 23)

44 Then he said to them, “These are my words that I spoke to you while I was still with you, that everything written about me in the Law of Moses and the Prophets and the Psalms must be fulfilled.” (Luke 24:44)