Rabbi Eleazar Rokeach of Worms was a leading talmudist and the author of the Sefer ha rokeah, which has some fascinating passages regarding teshuvah. I wonder though, is one permitted to serve as a rabbi to animals, particularly non-kosher ones like worms? If not, is this why he had such sharp insight into teshuvah?
The plural "worms" presumably refers to the rest of David's family, who were born to him.
I'm going to stop short of saying why this is directly related to insight into Teshuva.
P.S. You have to upvote this answer because I quoted Tehillim 22 in a Purim Torah answer...