Psalm 95 is an exhortation to worship the Lord, the Creator of heaven and earth. It concludes with a plea to not harden our hearts when we hear His voice. The first generation that came out of Egypt hardened their hearts, and even though they heard God’s voice telling them His commandments from the summit of Mount Sinai, God says of them that they did not know His ways (Psa 95:10). It is possible to hear with our ears, but not hear with the ears of our hearts. The generation that entered the Promised Land, that Joshua is leading, is the generation that heard and obeyed – that set their hearts to WORSHIP the Lord their God.
It is interesting that the first half of the psalm is an exhortation to worship, and the second half of the psalm is a plea to not rebel – i.e. to do what the voice of the Lord says when you hear it. In other words, when we obey the LORD, we are offering worship to Him! Our obedience is one way we worship the Lord. Worship means more than just singing praises. But true worshippers of God also do what their God is telling them to do!