I recognize that my arc may not be completely accurate, but I wanted to provide something for others to compare to their own work. I welcome your comments and critiques. I think that knowing God is the basis for the commands given in this psalm. That knowing God affects the way we worship.
Main point summary
Because of who God is, who we are, and what he has done, we must worship Him with joy, thankfulness, and praise. To truly worship God, to enter his gates, and to come before him, we must know who he is, who we are, and what he has done.
p Make a joyful noise to the Lord , all the earth!
a Shout joyfully to the Lord , all the earth.
Give a cheerful shout of triumph and raise the war-cry to YHWH , all you people of Earth!
q Serve the Lord with gladness !
a Serve the Lord with gladness ;
Serve YHWH joyfully and jubilantly with a glad heart!
r Come into his presence with singing !
b Come before Him with joyful singing .
Come before him with joyful singing and rejoicing!
Know that s the Lord , he is God!
Know that a the Lord 1 Himself is God;
Do this based on the certainty of the knowledge (through instruction and experience) that YHWH himself is the one true God!
It is he who t made us,
It is He who has b made us,
FOR it is YHWH who made us;
and u we are his; 1
and 2 not we ourselves;
we did not make ourselves (or therefore, we are his)
we are his v people,
We are c His people
Therefore, we are his people, we belong to him;
and w the sheep of his pasture.
and the sheep of His pasture.
we are his sheep, dwelling and feeding in his pasture.
x Enter his gates with thanksgiving,
Enter His gates a with 1 thanksgiving
So, enter the gates of his temple giving thanks to him,
and his y courts with praise!
And His courts with praise.
and come into the court of his temple with a song of praise in your mouth.
Give thanks to him;
Give thanks to Him,
And there, give God your thanks
z bless his name!
b bless His name.
and bless his name in grateful praise!
a For the Lord is good;
For a the Lord is good;
Because YHWH is good in every possible way,
his steadfast love endures forever,
b His lovingkindness is everlasting
for this God we know has steadfast love that never fails;
and his b faithfulness to all generations.
And His c faithfulness to all generations.
and we know that he is faithful to his covenant promises to every generation.
Based on the understanding of who YHWH is and who we are in relation to him.
the farthest that the people could go except for the priests
Not just a command to serve but to serve jubilantly Psalm 43:4 Psalm 16:11 Deu 28:15 and 28:45-48
it is a fountain/well that never runs dry
same phrase as in Psalm 66:1 except there "to God" and here "to YHWH"
To know is to have firm ground underfoot, the prerequisite of praise... Derek Kidner, Psalms 73–150: An Introduction and Commentary, vol. 16, Tyndale Old Testament Commentaries (Downers Grove, IL: InterVarsity Press, 1975), 389.
once again, worship YHWH with thanks and praise
based on our knowledge of this God who has proven himself to be good and faithful and unfailing
In Hebrew as in English, service is indivisible; it is a word which leaves no gap or choice between worship and work. -Derek Kidner, Psalms 73–150: An Introduction and Commentary, vol. 16, Tyndale Old Testament Commentaries (Downers Grove, IL: InterVarsity Press, 1975), 389.