Psalm 95 is a call to worship and an act of worship. It teaches us how to worship God and why we do so.
Worship with Joy
95: 1–2
The psalm opens with an invitation, or a command, to come and sing worship to God. We are to gather together in person (unless physically unable to). Watching on television or computer is not the same.
When we come together, we sing to the Lord. Our worship services are designed that way: we begin by singing worship songs.
There are two attitudes that are to be present when we sing. The first is joy The psalmist says “make a joyful noise”. It's not about the quality of our singing, it is about the attitude with which we sing.
We sing joyfully because God is “the rock of our salvation”. The psalmist seems to be thinking of Israel’s time in the wilderness when God provided water from the rock. (Exodus 17 & Numbers 20) We see that he mentions these specifically in verse 8.
We have joy because God has saved us, given us his Spirit, and provided for us in many ways. Joy is also winsome; it attracts people to the Lord.
The second attitude of worship is thankfulness and thanksgiving. The psalms are full of thanksgiving. The picture of worship in heaven also includes thanksgiving, showing the 24 elders around God’s throne saying:
“We give thanks to you, Lord God Almighty…”. (Revelation 11:17)
We have much to be thankful for as believers and we do not want be like those who do not give thanks because their thinking is futile and their hearts darkened. (Romans 1:21)
Worship with Reverence
95:3–7a
We worship reverently because God is worthy of reverence and worship. That is our motivation to worship. The Psalmist says: ”For the Lord is a great God, and a great King above all gods.” God is king, the sovereign who reigns over all. Psalm 103:19 says: “The Lord has established his throne in the heavens, and his kingdom rules over all.”
He rules over nature, nations, history, and even the hearts of people.
Nothing is outside His control or surprises him. Daniel 4:35 says: “…he does according to his will among the host of heaven and among the inhabitants of the earth, and none can stay his hand or say to him ‘what have you done?’”.
God’s greatness is revealed in creation. He made the mountains, the oceans, and the dry land. This should produce awe and reverence that leads us to worship.
So, the Psalmist calls us ”Oh come, let us worship and bow down; let us kneel before the Lord, our Maker.” The postures of bowing and kneeling are postures of humility reverence for someone superior to ourselves. True worship moves us to humble ourselves before a holy God.
Believers do this because “…He is our God, and we are the people of His pasture…”. We know him and know we are his. And his people worship him, exalt him, and humble themselves before him.
Robert Grant captured these concepts in his hymn “O Worship The King”. Here are the lyrics:
O worship the King all-glorious above,
O gratefully sing his power and his love:
our shield and defender, the Ancient of Days,
pavilioned in splendor and girded with praise.
O tell of his might and sing of his grace,
whose robe is the light, whose canopy space.
His chariots of wrath the deep thunderclouds form,
and dark is his path on the wings of the storm.
Your bountiful care, what tongue can recite?
It breathes in the air, it shines in the light;
it streams from the hills, it descends to the plain,
and sweetly distills in the dew and the rain.
Frail children of dust, and feeble as frail,
in you do we trust, nor find you to fail.
Your mercies, how tender, how firm to the end,
our Maker, Defender, Redeemer, and Friend!
O measureless Might, unchangeable Love,
whom angels delight to worship above!
Your ransomed creation, with glory ablaze,
in true adoration shall sing to your praise!
Worship with Obedience
95:7b–11
Suddenly, the tone changes from celebration to warning. The Psalmist calls us to obey the word of God and avoid hardening our hearts against him. Jesus said his sheep hear his voice and follow him. (John 10:27)
The psalmist reminds us of Meribah and Massah (Exodus 17; Numbers 20 ), where Israel, despite seeing God’s power, rebelled. They hardened their hearts—and as a result, they missed out on God’s rest.
It is not true worship if we sing but do not listen to God’s word, if we praise but do not obey. God doesn't just want noise from our mouths—He wants obedience from our lives.
Psalm 95 starts with a party and ends with a plea. God is inviting us to worship—but on His terms. Not just with music. Not just with reverence. But with surrendered lives: “Today, if you hear His voice, do not harden your heart.”
If you’ve lost the joy—ask Him to restore it.
If you’ve lost your awe—ask Him to reveal His greatness.
If you’ve hardened your heart—today is the day to soften it.
Let’s not be like the wilderness generation. Let’s be people who sing, bow, and obey.
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