This Psalm is a call to praise the Lord. We are to sing with joy to the Lord. The Lord brings joy to His people. If we don't have joy in our life we should examine ourselves and seek the answer from God. Now having joy does not mean life is always easy, but we can have joy even in the midst of the most difficult of circumstances. Joy is part of the fruit of the Spirit, and it is our strength.
The reason we have this joy is that God is the Rock of our Salvation. He is the sure foundation of our lives, nothing that happens to us can destroy that foundation. So we are to sing gladly to Him and with music. Worship is to be vibrant.
The Lord is Lord of all. He is greater than any other so called god. Absolutely all of creation is in His hands.
So we are to bow down before Him. The start of worship is acknowledging His greatness and our utter dependency upon Him. We His people the flock under His care.
Then comes a warning not to behave like the Israelites did in the desert. Note that in the incident referred to (Exodus 17:1-7) they were in the desert and there was no water. So even if we are in difficult circumstances just now we must still put our trust in God. Even if there is apparently no solution in sight we must still trust in God.
Trusting in God is the only way to enter His rest, ie to enter into the heart of His plans and purpose.
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