Psalm 95 is well-known as the source of the Venite (found in “The Order of Matins” in The Lutheran Hymnal). The last several verses of Psalm 95 recount the complaining and rebellion of the people of Israel during their forty years of wandering in the wilderness.
BibleGateway: Psalm 95 ESV Text: Psalm 95 Psalm 95 (Listen) Let Us Sing Songs of Praise 95:1 Oh come, let us sing to the LORD; let us make a joyful noise to the rock of our salvation!2 Let us come into his presence with thanksgiving; let us make a joyful noise to him with songs of praise!3 For the LORD…