Psalm 95 (94 in the Septuagint and Vulgate numbering) is a vibrant call to worship and a solemn admonition, drawn from the Book of Psalms in the Hebrew Bible. This psalm, presented in the query as a responsorial version with verses 1-2, 6-7b, 7c-9 and refrain from 7c-8a, invites believers to rejoice in God as the 'rock who saves us' and to kneel before Him as Creator and Shepherd. It transitions into a warning, recalling the Israelites' rebellion at Meribah and Massah during the Exodus (Exodus 17:1-7), where they tested God despite witnessing His miracles. The refrain, 'O that today you would listen to his voice! Harden not your hearts,' underscores the urgency of obedience and openness to divine guidance.

The origins of Psalm 95 trace back to ancient Israelite liturgy, likely composed during the post-exilic period (after 539 BCE) as part of Book IV of the Psalter. It is classified as an 'enthronement psalm' (alongside Psalms 47, 93, and 96-99), celebrating Yahweh's kingship over creation and history. Scholar Sigmund Mowinckel (1922) proposed these psalms were used in the autumn harvest and New Year festival, where God's 'epiphany' as victorious king was ritually acclaimed, akin to Easter proclamations in Christianity. Though not explicitly attributed to David, it reflects communal worship traditions, blending praise with prophetic exhortation rooted in Israel's wilderness experiences.

In the liturgy, Psalm 95 holds profound significance as the Invitatory Psalm in the Liturgy of the Hours, recited daily to summon prayer. Specifically, for the Mass on the Third Sunday in Lent (Year A), it serves as the Responsorial Psalm, pairing with the Gospel of the Samaritan woman at the well (John 4:5-42). This placement during Lent emphasises themes of spiritual thirst, repentance, and covenant renewal. The psalm's warning against hardened hearts mirrors the season's call to conversion, urging the faithful to heed God's voice amid trials, much like the Israelites' desert testing. It reminds worshippers that God's mercy flows like living water, but requires softened hearts to receive it, fostering introspection and trust in divine provision during penitential preparation for Easter.