Psalms 96:1 Oh sing to the LORD a new song; sing to the LORD, all the earth! Sing to the LORD, bless his name; tell of his salvation from day to day. Declare his glory among the nations, his marvelous works among all the peoples! For great is the LORD, and greatly to be praised; he is to be feared above all gods. For all the gods of the peoples are worthless idols, but the LORD made the heavens. Splendor and majesty are before him; strength and beauty are in his sanctuary. Ascribe to the LORD, O families of the peoples, ascribe to the LORD glory and strength! Ascribe to the LORD the glory due his name; bring an offering, and come into his courts! Worship the LORD in the splendor of holiness; tremble before him, all the earth! Say among the nations, “The LORD reigns! Yes, the world is established; it shall never be moved; he will judge the peoples with equity.” Let the heavens be glad, and let the earth rejoice; let the sea roar, and all that fills it; let the field exult, and everything in it! Then shall all the trees of the forest sing for joy before the LORD, for he comes, for he comes to judge the earth. He will judge the world in righteousness, and the peoples in his faithfulness.
Steven Cole commented on this Psalm: John Piper, who begins Let the Nations be Glad! ([Baker Academic], 2nd ed., p. 17) by saying, “Missions is not the ultimate goal of the church. Worship is. Missions exists because worship doesn’t. Worship is ultimate, not missions, because God is ultimate, not man.” He adds (ibid.), “The goal of missions is the gladness of the peoples in the greatness of God.”
He is right that worship is the goal of missions. But it’s also true that worship is the basis for missions. If we are not fervent worshipers of God, we have nothing to tell the nations. If we do not exude joy in God and His wonderful salvation, why should lost people be interested in what we have to say? So worship is both the goal of missions and the foundation for missions. If we’re not worshipers, we will be lousy witnesses.
Psalm 96 is a call to tell the nations about God’s glory and His great salvation. It follows on Psalm 95, which describes the stubborn hard-heartedness of Israel in the wilderness, in spite of God’s goodness towards them (C. H. Spurgeon, The Treasury of David [Eerdmans], 4:336). It was the same hardhearted nation that later rejected her Messiah, leading to the gospel going out to the Gentiles (Matt. 21:43; Acts 13:46). So Psalms 95 & 96 form a pair, showing Israel’s rejection of the gospel and the subsequent missionary task of proclaiming the gospel to the Gentiles.