The psalm begins with an enthusiastic invitation: come, let us sing for joy to the Lord, let us make a joyful noise to the rock of our salvation, let us come before his presence with thanksgiving. The reason is given: the Lord is a great God and a great King above all gods. In his hand are the depths of the earth and the heights of the mountains; the sea is his, for he made it, and the dry land, which his hands formed.
A second invitation comes in verses 6 and 7: come, let us worship and bow down, let us kneel before the Lord our Maker, for he is our God and we are the people of his pasture and the sheep of his hand. The tone changes in the last part with the words: today, if you hear his voice.
Now the Lord himself speaks. He warns them not to harden their hearts as at Meribah, as on the day at Massah in the wilderness, when their fathers tested him though they had seen his work. For forty years he loathed that generation, and he swore that they would not enter his rest.