In his Life of St Augustine, St Possidius of Calama writes that in his final illness, the great doctor “had ordered the Psalms of David, those very few which concern penance, be written out; and lying on his bed … read the four of them (from the pages) attached to the wall, and wept copiously and continuously.” (chapter 31) He does not say which four these were, but we may safely assume that Psalm 50, often known by its first word in Latin, “Miserere”, was included among them, long recognized as the penitential psalm par excellence.
In the following century, Cassiodorus (ca 485-585), in his massive Exposition of the Psalms, refers in many places to the Penitential Psalms as a group, and when commenting on the first of them, Psalm 6, lists the others, according to the traditional numbering of the Septuagint: 31, 37, 50, 101, 129 and 142. (The list is given twice more, in the comments on Psalms 50 and 142.) At the conclusion of this section, he states that these seven are especially worthy of attention, since they “are given to the human race as an appropriate medicine, from which we receive a most salutary cleansing of our souls, revive from our sins, and by mourning, come to eternal joy.” As he explains each one individually, he often relates it in some way to one or more of the other six, as for example Psalm 142, which is placed last in the group “because these psalms begin from afflictions, and end in joys, lest anyone despair of that forgiveness which he knows has been set forth in these prayers.”
Cassiodorus takes it for granted that his reader know this tradition, and therefore we may safely assume it was already part of the Church’s prayer by his time; his influence was very strong in the Middle Ages, and we may also assume that his writing did much to solidify its place in the liturgy. They were added to a variety of rites, such as the dedication of a Church according to the Roman Pontifical; in the traditional ordination rite, the bishop enjoins those who receive tonsure and the minor orders “to say one time the seven Penitential Psalms, with the Litany (of the Saints) and the versicles and prayers (that follow).”
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New Liturgical Movement: The Penitential Psalms in the Liturgy of Lent