Psalm 95
Jamieson-Fausset-Brown Bible Commentary
O come, let us sing unto the LORD: let us make a joyful noise to the rock of our salvation.

Ps 95:1-11. David (Heb 4:7) exhorts men to praise God for His greatness, and warns them, in God's words, against neglecting His service.

1. The terms used to express the highest kind of joy.

rock—a firm basis, giving certainty of salvation (Ps 62:7).

Let us come before his presence with thanksgiving, and make a joyful noise unto him with psalms.
2. come … presence—literally, "approach," or, meet Him (Ps 17:13).
For the LORD is a great God, and a great King above all gods.
3. above … gods—esteemed such by men, though really nothing (Jer 5:7; 10:10-15).
In his hand are the deep places of the earth: the strength of the hills is his also.
4, 5. The terms used describe the world in its whole extent, subject to God.
The sea is his, and he made it: and his hands formed the dry land.
O come, let us worship and bow down: let us kneel before the LORD our maker.
6. come—or, "enter," with solemn forms, as well as hearts.
For he is our God; and we are the people of his pasture, and the sheep of his hand. To day if ye will hear his voice,
7. This relation illustrates our entire dependence (compare Ps 23:3; 74:1). The last clause is united by Paul (Heb 3:7) to the following (compare Ps 81:8),
Harden not your heart, as in the provocation, and as in the day of temptation in the wilderness:
8-11. warning against neglect; and this is sustained by citing the melancholy fate of their rebellious ancestors, whose provoking insolence is described by quoting the language of God's complaint (Nu 14:11) of their conduct at Meribah and Massah, names given (Ex 17:7) to commemorate their strife and contention with Him (Ps 78:18, 41).
When your fathers tempted me, proved me, and saw my work.
Forty years long was I grieved with this generation, and said, It is a people that do err in their heart, and they have not known my ways:
10. err in their heart—Their wanderings in the desert were but types of their innate ignorance and perverseness.

that they should not—literally, "if they," &c., part of the form of swearing (compare Nu 14:30; Ps 89:35).

Unto whom I sware in my wrath that they should not enter into my rest.
A Commentary, Critical, Practical, and Explanatory on the Old and New Testaments by Robert Jamieson, A. R. Fausset and David Brown [1882]

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