Psalm 95

It starts in joy (come, sing, shout, kneel before our Maker) and ends in warning: don't harden your heart like the wilderness generation who "shall never enter My rest." Hebrews 3-4 builds a whole sermon on "Today, if you hear His voice" and on the rest that still remains for God's people. Rest is entered by trust, not earned by effort.

"For He is our God, and we are the people of His pasture, the sheep under His care. Today, if you hear His voice," (Psalm 95:7)