Rashi on Psalms Chapter 100
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מִזְמוֹר לְתוֹדָה. לְהוֹדָיָה, לְאָמְרוֹ עַל זִבְחֵי תּוֹדָה:
A song for a thanksgiving offering For thanksgiving, to recite it over thanksgiving offerings.
עִבְדוּ אֶת ה׳ בְּשִׂמְחָה. וְכָל כָּךְ לָמָּה? דְּעוּ כִּי ה׳ הוּא הָאֱלֹהִים כְּשֶׁמְּשַׁלֵּם שְׂכַר פְּעֻלַּתְכֶם, אֲבָל עוֹבְדֵי עֲבוֹדַת גִּלוּלִים אֵין לָהֶם לַעֲבֹד בְּשִׂמְחָה שֶׁאֵין מְשַׁלְּמִין שָׂכָר:
Serve the Lord with joy Now why so much? You should know the Lord is God, Who recompenses you with reward for your work, but the heathens need not worship with joy because their deities do not give them any reward.
הוּא עָשָׂנוּ וְלֹא. כְּשֶׁלֹּא הָיִינוּ בָּעוֹלָם:
He made us and we are His When we were not in the world.
בְּתוֹדָה. בְּהוֹדָיָה:
וְעַד דֹּר וָדֹר. קַיֶּמֶת אֱמוּנָתוֹ. כָּל לְשׁוֹן אֱמֶת וֶאֱמוּנָה, אֲמָנַת הַבְטָחָה, שֶׁמַּאֲמִין וּמַבְטִיחַ הַבְטָחָתוֹ:
and until generation after generation His faith will endure. Every expression of truth (אמת) and faith (אמונה) means the realization of a promise, that He makes true and assures His promise.