This psalm praises God, who reigns over all and establishes justice. It describes God as exalted in Zion above all peoples, with a great and awesome name. It mentions that Moses, Aaron and Samuel called on God's name and he answered them, speaking through a pillar of cloud. The psalm calls the people to tremble before God, exalt and praise his name, and worship at his footstool, as he is a just and forgiving ruler over Israel.