If there is anything of value and of greater impact in our spiritual lives, it is precisely when we enter into the presence of God, humbly and with praise, which brings as a pleasant consequence, the rest we receive from our God. In Psalm 95 the author invites us to come into the sanctuary of the Lord with praise and much joy. The author is inspired by the Holy Spirit and tells us:

Come, let us sing joyfully to the LORD;
Let us acclaim the rock of our salvation.
2 Let us come before him with thanksgiving,
let us acclaim him with singing.
3 For the LORD is the great God,
the great King above all gods.
4 In his hand are the depths of the earth;
the tops of the mountains are his.
5 The sea is his, for he made it;
With his hands he formed the dry land.
6 Come, let us bow down in reverence,
let us bow the knee
before the LORD our Maker.
7 For he is our God
and we are the people of his pasture;
we are a flock under his care!
If you hear his voice today,
8 do not harden your hearts, as at Meribah,[a] as on that day at Massah,[b] as on that day at Masbah.
as on that day at Massah,[b] in the wilderness,
9 when your forefathers tempted me,
when they put me to the test,
though they had seen my works.
10 Forty years I was angry
with that generation,
and I said: "They are a misguided people
who do not recognize my ways."
11 So in my anger I swore this oath:
"They shall never enter my rest." Psalm 95 New International Version (NIV)

To come into the presence of God with joyful songs of praise is something motivating and refreshing, in which we express in our songs our gratitude to the Lord for the salvation he has given us. We come to his holy sanctuary with thanksgiving, because there are many reasons and motives for which we should thank the Lord, both for his mercy and faithfulness that he has had with all the redeemed. It is notorious, that we should acclaim the Lord with songs, because God dwells in the midst of praise, which ascends to his presence as a pleasing odor and as a rational sacrifice of his people. Our God is the great God and there is none like Him, who passes over to the vanity of the idols of the heathen nations. We must come to the throne of God with a heart abounding and overflowing with joyful praise. The psalmist expressed it as follows:

Come, let us sing joyfully to the LORD;
Let us acclaim the rock of our salvation.
2 Let us come before him with thanksgiving,
let us acclaim him with singing.
3 For the LORD is the great God,
the great King above all gods. Psalm 95: 1-3

Reaching the throne of God with praise is gratifying, because we recognize that the greatness of God's power made all that exists. In the hands of the Lord are the depths of the earth, the lofty mountains and peaks belong to the Lord. God made the sea, therefore, it belongs to him, and with the power of his hands, he formed the earth and gave it firmness. The majesty of God is of great magnitude, therefore, we should come into His presence and bow down with great reverence, bending our knees, for He is also our maker. Psalm 95 exhorts us, saying:

In his hands are the depths of the earth;
The tops of the mountains are his.
5 The sea is his, for he made it;
With his hands he formed the dry land.
6 Come, let us bow down in reverence,
let us bow the knee
before the LORD our Maker. Psalm 95: 4-6

How glorious and wonderful it is to recognize that Jehovah is our God, and that we are the flock under his care and protection, therefore, we are called to hear and obey the voice of our God, in order not to imitate the people of Israel, who when they were in the desert, tempted the Lord and did not obey, even though the Lord had shown them his works and wonders. The psalmist exhorts us to recognize that we have a God who cares for each one of us.

For he is our God
and we are the people of his pasture;
we are a flock under his care!
If you hear his voice today,
8 do not harden your hearts, as at Meribah,[a][b] as on that day at Massah,[a][b][c][d][d][e][e
as on that day at Massah,[b] in the wilderness,
9 when your forefathers tempted me,
when they put me to the test,
though they saw my works. Psalm 95: 7-9

If we want to enter into the rest of the Lord and rest from our works, it is necessary to come to him with great humility and recognize him as the only God. To come to God with pride and arrogance is to provoke him to anger and wrath. The people of Israel tempted him in the desert and made them go around the wilderness for 40 years, because they were a misguided people who did not want to recognize the ways of the Lord, for which God in his anger, swore that they would not enter the rest of the Lord and much less, in the land that he had promised to the patriarchs: Abraham, Isaac and Jacob. The Lord with his power made all those who came out of captivity in Egypt, all died in the wilderness, while the children who were born in the wilderness, were the ones who entered the promised land.
The Lord teaches us to be humble and to come before his presence with praise and songs of joy.

Forty years I was angry
with that generation,
and I said: "They are a misguided people
who do not recognize my paths."
11 So, in my anger, I swore this oath:
"They shall never enter my rest." Psalm 95: 10-11