Praise for the great God.
v1: Since the earth rejoices at the reign of God, so should we!
v2-6: The wonderful character of God is revealed on the earth. There are clouds and thick darkness and fire, which prevent human eyes from seeing Him, yet He has revealed Himself through His creation, and all peoples see His glory.
v7-9: The folly of idolatry. The true God is far above all gods.
Heb 1.6 refers to worship due to the Lord Jesus Christ, referring to this verse, and to Deut 32.43 (marginal reading); all the angels of God are commanded to worship Christ. The command to worship God in the O.T. becomes a command to worship Jesus Christ in the N.T.
v10-12: The godly rejoice in the promises of God. This is security in Him, but also the call to hate evil. The greatness of God demands righteous living form His people.