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With - the voice of a Psalm - I think זמרה zimrah, which we translate Psalm, means either a musical instrument, or a species of ode modulated by different voices.

Sing unto the Lord with the harp - A song or psalm accompanied by the harp. On the harp. See the notes at Isaiah 5:12.

And the voice of a psalm - The voice in singing; a musical voice. Let it not be mere instrumental music, but let that be accompanied with the voice uttering intelligible sounds or words. The only proper use of instrumental music in the worship of God is to deepen the impression which the words are adapted to make; to secure a better influence of truth on the heart.

Let all the children of men rejoice in the setting up the kingdom of Christ, for all may benefit by it. The different orders of rational creatures in the universe, seem to be described in figurative language in the reign of the great Messiah. The kingdom of Christ will be a blessing to the whole creation. We expect his second coming to begin his glorious reign. Then shall heaven and earth rejoice, and the joy of the redeemed shall be full. But sin and its dreadful effects will not be utterly done away, till the Lord come to judge the world in righteousness. Seeing then that we look for such things, let us give diligence that we may be found of him in peace, without spot, and blameless.