Pronunciation
Mizmor l'todah. Hari'u l'Adonai kol ha'aretz. Ivdu et Adonai b'simchah, bo'u l'fanav birnanah D'u ki Adonai Hu Elokim, Hu asanu v'lo anachnu, amo v'tzon mar'ito 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
Meaning
A psalm of thanksgiving. Shout joyfully to the Lord, all the earth. Serve the Lord with joy, come before Him with song Know that the Lord is God; He made us and we are His, His people and the flock of His pasture 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
About these words
הָרִיעוּ = shout joyfully. בְּשִׂמְחָה = with joy. The emphasis is on joyous service.
The final verse: God's kindness (chesed) is eternal, His faithfulness spans all generations.