This Psalm isn’t so much an exhortation to worship God, as it’s an exhortation as to how we ought to worship God, because how we worship God matters. We often give more thought and attention to our preferences in worship than we do with God’s preferences in worship. In this Psalm, God gives us 3 essential themes about how we ought to worship Him: 1) he wants us to worship Him joyfully, gladly, and willingly; 2) our worship is focused on God’s person, and His deeds, and especially on His gospel; 3) serving the Lord, not only happens when we are gathered to praise Him, but it happens in all of life.