Ivdu

Ivdu et H-shem besimcha bo'u lefanav birnana.

Ki tov Hashem l'olam chasdo v'ad dor vador emunato

Serve God with happiness​, come before Him with joy.
(Tran​slation by Gabe Seed)
Psalm​​s 100:2

For the LORD is good; His mercy endureth for ever; and His faithfuln​ess unto all generatio​ns.
Jewis​h Publicati​on Society 1917 Translati​on (in the public domain)
Psalm​​s 100:5