Psalm 95 is a song of Thanksgiving. In it the people of Israel are prepared for the coming of the Lord Jesus. This song of Thanksgiving has its origin in the eternal power and Divine nature of God seen from His works of creation with understanding (Romans 1:20). At the same time, the warning sounds that the people can only enter God’s rest, the realm of peace, by faith. The history of the people’s disobedience in the wilderness is like a warning sign, warning of the danger of unbelief, which is an obstacle to be able to enter.
The call in Psalm 95:1~2 is to magnify the LORD. The reasons are: 1. He is greater than all idols, gods and powers (95:3). 2. He is the Creator and Sustainer of all things (95:4~5). 3. He is the Shepherd of His people (95:6~7). It begins with the call to sing joyfully to the LORD, (95:1). Shouts of joy are to be given "the rock of our salvation". "Sing for joy" and "shout joyfully" are expressions of a heart that is full of gratitude for Who the LORD is and what He has done. Here the Psalmist urges the whole people to do so.