O come, let us sing unto the LORD: let us make a joyful noise to the rock of our salvation.
Psalms 95:1-11 -Joyfully praise Yahweh our Saviour, as sole Lord of land and sea, and kneel before Him (Psalms 95:1-6); warning against hardening the heart now in the day of grace, lest, as in the unbelieving Israelites' case, no entrance should be allowed into God's rest (Psalms 95:7-11). Hebrews 3:1-19 and Hebrews 4:1-16 confirm the Messianic interpretation. "Saying in David," designates the Book of Psalms in general; not meaning that this particular psalm is David's composition, "Rest" is anticipated through Yahweh's interposition against the Assyrian, just as Joshua had been enabled to obtain the rest in Canaan. As in his time many had failed to obtain it through unbelief, so in Hezekiah's day, judgments consumed the "sinners in Zion," so that their eyes did not "see Jerusalem a quiet habitation" secured to God's people after Sennacherib's overthrow (Isaiah 33:14; Isaiah 33:20-21; Isaiah 33:24). The ulterior "rest" meant is the heavenly (Hebrews 4:9).
O come, let us sing unto the Lord - Hebrew, 'let us sing loud songs of joy. Not merely loud utterances of the voice are meant: the negative expression of the same exhortation, "Harden not your heart" (Psalms 95:8), implies that here also voices from the heart are meant.
The Rock of our salvation - the unchangeable and sure foundation of our trust (Psalms 18:2; Psalms 94:22).