The verse from Psalm 22:10 reads: "From birth I was cast upon you; from my mother's womb you have been my God."
This verse uses synthetic parallelism. Synthetic parallelism is when the second line of a verse adds further detail or advances the thought of the first line.
In this verse, the second line, "from my mother's womb you have been my God," builds on and adds to the idea presented in the first line, "From birth I was cast upon you." The poet is expressing the idea that God has been a constant presence in his life since before he was even born. The second line elaborates on the timing and nature of this divine presence, therefore it is synthetic parallelism.