3 Hear, ye kings; give ear, ye princes!

I, to the Lord will Ising,

Will sing praise to the Lord, the God of Israel.

4 Lord, when Thou wentest out from Seir,

When Thou marchedst out of the fields of Edom,

The earth trembled, and the heavens also dropped;

The clouds also dropped water.

5 The mountains shook before the Lord,

Sinai there before the Lord, the God of Israel.

The "kings and princes" are not the rulers in Israel, for Israel had no kings at that time, but the kings and princes of the heathen nations, as in Psalm 2:2. These were to discern the mighty acts of Jehovah in Israel, and learn to fear Jehovah as the almighty God. For the song to be sung applies to Him, the God of Israel. זמּר, ψάλλειν, is the technical expression for singing with an instrumental accompaniment (see at Exodus 15:2).

Judges 5:9 Parallel Commentaries

offered

Judges 5:2 Praise you the LORD for the avenging of Israel, when the people willingly offered themselves.

1 Chronicles 29:9 Then the people rejoiced, for that they offered willingly, because with perfect heart they offered willingly to the LORD...

2 Corinthians 8:3,4,12,17 For to their power, I bear record, yes, and beyond their power they were willing of themselves...

2 Corinthians 9:5 Therefore I thought it necessary to exhort the brothers, that they would go before to you, and make up beforehand your bounty...