Come before Him with joyful singing.
It is He who has made us, and not we ourselves;
We are His people and the sheep of His pasture.
And His courts with praise.
Give thanks to Him,
His lovingkindness is everlasting
And His faithfulness to all generations. (Psalm 100 [NASB])
In these five verses, David expressed thanks to God. David exhorted the people of God - Israel and all who followed God by faith - to thank the LORD, too. Who God is and what He has done overwhelm David and cause him to pour out thanks to God. Who God is and what He has done has not changed over the millennia and so God’s people today have cause to thank God, too.
In these verses, David gave six exhortations. He told God’s people to shout, serve, come before, enter, give thanks, and bless. By themselves, these actions are meaningless. When seen in relation to or for whom they are done, great meaning occurs.
“existent One before time” and Creator - and for what He has done - created, chose, protected, and provided, David said we can shout with joy, serve the LORD with a glad and joyful heart, and come before Him singing joyfully.