What does Psalm 100:2 mean?

This calls upon those who read or hear the song to serve God with a sense of joy. The imagery of someone singing suggests intense happiness, an appropriate feeling when we truly understand what God has done for us. The emphasis on serving the Lord with gladness reminds us that honoring God is not meant to be a form of drudgery, but a delight (John 10:10; Matthew 11:30). It is a privilege to serve the Lord of heaven and earth. Well-meaning people sometimes resist the idea of faith as joyful, celebratory, exciting, and energized. For that reason, it's become easier for critics to claim Christianity is drab and dull. However, as intended by God, faith is characterized by joy. Romans 14:17 says the kingdom of God is "righteousness and peace and joy in the Holy Spirit."

Even strong opposition to our service should not dampen our joy. Shortly after Jesus ascended into heaven, persecutors beat the apostles and ordered them not to speak in the name of Jesus. Those believers rejoiced that they were thought of as worthy to suffer for Jesus, and they continued to serve the Lord (Acts 5:40–42).

This verse makes a point of mentioning singing. This is an integral part of worship. It expresses the thoughts and feelings we have about God. Colossians 3:16 instructs us to sing psalms and hymns and spiritual songs. In some contexts, "hymns" are songs we address to God, whereas spiritual songs are those we address to one another. Together, psalms, hymns, and spiritual songs offered from hearts full of Scripture glorify the Lord.