Part 1 of 3מִזְמוֹר לְתוֹדָה הָרִיעוּ לַה׳ כָּל הָאָרֶץ. עִבְדוּ אֶת ה׳ בְּשִׂמְחָה בֹּאוּ לְפָנָיו בִּרְנָנָה
Mizmor l'todah. Hari'u l'Adonai kol ha'aretz. Ivdu et Adonai b'simchah, bo'u l'fanav birnanah
A psalm of thanksgiving. Shout joyfully to the Lord, all the earth. Serve the Lord with joy, come before Him with song
הָרִיעוּ = shout joyfully. בְּשִׂמְחָה = with joy. The emphasis is on joyous service.
Part 2 of 3דְּעוּ כִּי ה׳ הוּא אֱלֹקִים הוּא עָשָׂנוּ וְלוֹ אֲנַחְנוּ עַמּוֹ וְצֹאן מַרְעִיתוֹ
D'u ki Adonai Hu Elokim, Hu asanu v'lo anachnu, amo v'tzon mar'ito
Know that the Lord is God; He made us and we are His, His people and the flock of His pasture
Part 3 of 3בֹּאוּ שְׁעָרָיו בְּתוֹדָה חֲצֵרוֹתָיו בִּתְהִלָּה הוֹדוּ לוֹ בָּרְכוּ שְׁמוֹ. כִּי טוֹב ה׳ לְעוֹלָם חַסְדּוֹ וְעַד דֹּר וָדֹר אֱמוּנָתוֹ
Bo'u sh'arav b'todah, chatzerotav bit'hilah, hodu lo bar'chu sh'mo. Ki tov Adonai, l'olam chasdo, v'ad dor vador emunato
Enter His gates with thanksgiving, His courtyards with praise; thank Him, bless His Name. For the Lord is good; His kindness is forever, and His faithfulness is from generation to generation
The final verse: God's kindness (chesed) is eternal, His faithfulness spans all generations.