Two ways to live v6: the way of the righteous - the way of God; the way of the wicked - our way
The way of the wicked v4-6, ultimately shut out from the Lord
The way of the righteous v1-3 - blessed; lifestyle, identification, sitting with; -what we do - delights in the law; prospers
The way of Jesus - the only person who achieved the way of the Righteous v1-3, we can be made blameless as we surrender to Jesus, and allow the Holy Spirit to dwell in us.