"Guide me according to your commandments" or "Teach me to obey your commandments." God's commandments are compared to a path that a person walks in obedience to God. (See: [[rc://en/ta/man/translate/figs-metaphor]])
This is an idiom. The "heart" here refers to the will, desires, and choices that directs one's life. AT: "Make me want" (See: [[rc://en/ta/man/translate/figs-idiom]])