Psalm 95 is believed to be authored by David and serves as an invitation for worship, blending joy and solemnity in its call to praise God, referred to as the 'rock of our salvation.' The psalm emphasizes communal worship, urging believers to express heartfelt gratitude and reverence towards God, while also warning against neglecting His service. It encapsulates themes of joy, unity in praise, and the need for humility in worship.