All people that on earth do dwell,
Sing to the Lord with cheerful voice.
Him serve with fear, His praise forth tell;
Come ye before Him and rejoice.

The Lord, ye know, 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.

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.

For why? the Lord our God is good;
His mercy is for ever sure;
His truth at all times firmly stood,
And shall from age to age endure.

To Father, Son and Holy Ghost,
The God Whom Heaven and earth adore,
From men and from the angel host
Be praise and glory evermore.

Alternative lyrics:
By: Psalter Hymnal (Gray)‎

All people that on earth do dwell,
sing to the LORD with cheerful voice.
Serve him with joy, his praises tell,
come now before him and rejoice!

Know that the LORD is God indeed;
he formed us all without our aid.
We are the flock he comes to feed,
the sheep who by his hand were made.

O enter then his gates with joy,
within his courts his praise proclaim.
Let thankful songs your tongues employ,
O bless and magnify his name.

Because the LORD our God is good,
his mercy is forever sure.
His faithfulness at all times stood
and shall from age to age endure.

(More information at: hymnary.org)