Psalm 100 concludes a group of psalms, starting with Psalm 93, that celebrate God's kingship and universal rule. This short psalm has two parts, each with a call to give thanks to God and reasons to give thanks.
Verse 1 urges "all the earth" to make a joyful noise to the God of Israel. Like other psalms in this group, it has a prophetic element, looking forward to a time in the future when God receives universal acclamation, and people from all nations join with Israel to follow the true God.
"Serve the Lord with gladness!", we read in verse 2. There is joy in submitting to God and living in harmony with him.
The midrash on Psalm 100 contrasts this verse with Psalm 2:11: "Serve the Lord with fear, and rejoice with trembling." Rabbi Akha (fourth century AD) taught that one should serve God with fear in this world so that he can serve him with gladness in the world to come, and be glad at the fear that hostile nations will experience at their judgment.
Verse 3 says that we are to "know" the LORD is God, a word that connotes acknowledgment or confession. We confess that he is our creator and therefore our ruler. When we are in covenant with him, we confess the privileges that come with that status as "sheep of his pasture."
Verse 4 repeats the call to worship: "Enter his gates with thanksgiving, and his courts with praise!" Thanksgiving and praise naturally go together, as God reveals himself in both his perfections and his mighty works. We praise God for his mercy and his faithfulness.
A midrash on verse 4 says that in the world to come, "all offerings will cease, except the prayer of thanksgiving." This midrash recognizes the prophetic element in the psalm.
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