Psalm 96 calls upon all nations of the earth to come and worship Yahweh. His mighty deeds have brought salvation and people everywhere are to worship him in the splendor of his righteousness. He rules the world with equity bringing joy to all. The psalm speaks of eschatological rule as well as his current reign over his people.
The two sections of Psalm 95 are quite distinct in tone. The first is a beautiful hymn of praise (1-7a) and the second a prophetic warning (7b-11). Some have suggested that what we have is two psalms that have somehow been joined. The greatness of God calls for worship that issues in obedience and the displeasure of God points ahead to a life of continuing exile – “They shall never enter the land where I give rest.”