Psalm 131:1 speaks of humility and not having a haughty heart, which is echoed in Matthew 18:4 where Jesus teaches that humility is essential to greatness in the kingdom of heaven.
Psalm 131:2 uses the imagery of a weaned child with its mother to describe a soul at peace, similar to Isaiah 66:13 where God comforts His people as a mother comforts her child.
Psalm 131:3 calls Israel to hope in the Lord, which aligns with Romans 15:13 where Paul speaks of the God of hope filling believers with joy and peace as they trust in Him.