LSB #791 "All People That on Earth Do Dwell"

Biblical citation in the hymnal:  Psalm 100

Psalm 100:  "1 Make a joyful noise to the LORD, all the earth!  2 Serve the LORD with gladness!  Come into his presence with singing!

"3 Know that the LORD, he is God!  It is he who made us, and we are his; we are his people, and the sheep of his pasture.  4 Enter his gates with thanksgiving, and his courts with praise! Give thanks to him; bless his name!

"5 For the LORD is good; his steadfast love endures forever, and his faithfulness to all generations."

+++

The text is public domain:

1 All people that on earth do dwell,

Sing to the Lord with cheerful voice.

Him serve with mirth, His praise forthtell;

Come ye before Him and rejoice.

2 Know that the Lord is God indeed;

Without our aid He did us make.

We are His folk, He doth us feed,

And for His sheep He doth us take.

3 O enter then His gates with praise;

Approach with joy His courts unto.

Praise, laud, and bless His name always,

For it is seemly so to do.

4 For why? The Lord our God is good:

His mercy is forever sure.

His truth at all times firmly stood

And shall from age to age endure.

5 To Father, Son, and Holy Ghost,

The God whom heav'n and earth adore,

From us and from the angel host

Be praise and glory evermore.

+++

The hymn text basically just paraphrases Psalm 100.  The hymn's first verse comes from verses 1-2; the second verse from verse 3; the third verse from verse 4; and the fourth verse from verse 5.