What does Psalm 2:11 mean?

David, the author of this psalm (Acts 4:25), calls upon the rebellious kings and rulers to serve the Lord with fear and rejoice with trembling; that is, with respect and strong emotion. Instead of opposing the Lord (Psalm 2:1–6), the kings and rulers had an opportunity to do His bidding reverently and with deep joy.

Service that combines reverence and joy is the hallmark of genuine Christianity. Psalm 100:2 implores God's people to "serve the LORD with gladness!" Further, God's people ought to humbly acknowledge His authority and ownership. Scripture states, "Know that the LORD, he is God! It is he who made us, and we are his; we are his people, and the sheep of his pasture" (Psalm 100:3).

The early believers who trusted in Christ on the Day of Pentecost modeled this kind of relationship to God. Acts 2:42–47 reports that they devoted themselves to the apostles' teaching and the fellowship, broke bread together, prayed, shared their goods with one another, gave generously to help the needy, ate with glad hearts, and praised God. In Psalm 5:7 the psalmist shared his resolve to respond to God's abundant, steadfast love to enter God's house and bow down toward the Lord's temple in fear of Him. This attitude of trust and devotion to God should be repeated by all believers.