There is a series of invitations to worship in Psalm 95.
Come (v. 1) – Move from where we are, mentally, emotionally and spiritually.
Let us sing (v. 1) – Music stitches our ideas and emotions together in powerful heartfelt praise.
Let us shout joyfully to the Rock of our salvation (v. 1) – Worship should carry exuberance and enthusiasm.
Let us come before His presence with thanksgiving (v. 2) – Worship comes from an attitude of thanksgiving rather than entitlement.
Let us shout joyfully (v. 2) – Joy focuses on our relationship with Him rather than our circumstances.
Let us worship and bow down (v. 6) – Humility is necessary for worship.
Let us kneel before the LORD our Maker (v. 6) – Submission, bringing our will under His authority, demonstrates He is our Lord.
In contrast to the invitations, is a warning, an admonition.
Do not harden your heart.
Hardening our hearts is the opposite of worship. We stagnate. We wallow. We fixate. We demand.
Lord, give us soft hearts to worship You.