to receive the discipline that gives insight, righteousness and judgment and uprightness,

Insight calls for knowledge of reasons and an appreciation for why a certain course is right or wrong. For example, a man of understanding can discern when someone is heading in a wrong direction, and he may instantly warn him of the danger. But it takes insight on his part to comprehend why the person is gravitating in that direction and to come up with the most effective way to rescue him.