When you enter some of the greatest cities in the world, you can encounter famous gates such as the Brandenburg Gate (Berlin), the Jaffa Gate (Jerusalem), and the gates at Downing Street (London). Whether the gates were built for defensive or ceremonial purposes, they all represent the difference between being outside or inside certain areas of the city. Some are open; some are closed to all but a few.
The gates into the presence of God are always open. The familiar song of Psalm 100 is an invitation for the Israelites to enter into the presence of God through the temple gates. They were told to “shout for joy” and “come before him with joyful songs” (v. 1). Shouting for joy was an appropriate expression when greeting a monarch in the ancient world. All the earth was to sing joyfully about God! The reason for this joyful noise was that God had given them their identity (v. 3). They entered the gates with praise and thanksgiving because of God’s goodness and His steadfast and enduring love which continues through all generations (vv. 4-5). Even when they forgot their identity and wandered away from Him, God remained faithful and still invited them to enter His presence. The gates into God’s presence are still open, inviting us to come and worship.
Source: Our Daily Bread