This is a line from Psalm 96, davened (prayed) in the Kabbalat Shabbat service. The psalm is commonly referred to as 'Shiru L'Adonai,' or 'All ya'll, sing to God!'
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This is one of the dozens of originals written by Yoel Sykes and Dafna Rosenberg, the staple musicians in the Nava Tehila Renewal minyan in Jerusalem, where I was fortunate enough to play for half a year while during my third year of rabbinical school. Check out more of their amazing music and buy their CD at www.myspace.com/navatehila
Yismechu ha-Shamayim v'tagel haAretz
Yiram haYam u'melo'o
The heavens will be happy and the earth will rejoice.
Let the sea roar and all that is in it.
- From Psalm 96