Translation: ESV
Make a joyful noise to the LORD, all the earth!
The worship of God is a universal act that the whole world must offer together with joy.
▸This is one of the shortest and most complete praise psalms in the Bible.
This is one of the shortest and most complete praise psalms in the Bible. 'All the earth (kol ha'arets)' — the audience is not only Israel but all peoples. 'Make a joyful noise (hari'u)' — a shout of joy and triumph. Worship of God begins with joy.
Serve the LORD with gladness! Come into his presence with singing!
The manner of serving God must be gladness, and singing is the expression of that joy.
▸'Serve the LORD with gladness (ivdu et YHWH besimcha)' — gladness is the manner of worship.
Know that the LORD, he is God! It is he who made us, and we are his; we are his people, and the sheep of his pasture.
The recognition that we belong to God and are his people is the theological foundation of all worship.
▸This is the theological basis of worship.
Enter his gates with thanksgiving, and his courts with praise! Give thanks to him; bless his name!
Entering his gates with thanksgiving and his courts with praise is the way to draw near to God's presence.
▸This is the way to approach God.
For the LORD is good; his steadfast love endures forever, and his faithfulness to all generations.
The ultimate basis of all worship is the LORD's goodness, his enduring steadfast love, and his faithfulness that transcends every generation.
▸This is the conclusion and core theological declaration of Psalm 100.