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I will be forever grateful to Rabbi Moshe Don Kestenbaum for transforming Mizmor L’Sodah from a paragraph said rather quickly, trying to keep pace with the minyan, to a joyous song of gratitude that I look forward to singing (quietly) each morning. Rabbi Kestenbaum quoted the Shulchan Aruch (Orach Chayim, siman 51), which I had not remembered or successfully applied in my davening up to the point that I heard his shiur (short shiurim on tefilah, available on Torah Anytime). The Beis Yosef (quoting the Orchos Chayim; the Ri bar Yakar and the Levush note the same idea) writes that it is a mitzvah to draw out Mizmor L’Sodah in song and sing it.

Hu asanu, v’lo anachnu – amo v’tzon mar’iso

…He made (created) us and we are His, (with the special distinction that we are) His nation and the sheep that He takes care of.

Mizmor l’sodah: Hariu LaShem kol ha’aretz.

A song of thanksgiving: Everyone on Earth should call out to Hashem (and rejoice in His kindness).

We begin Mizmor L’Sodah by calling out to the whole world to sing to Hashem.

Bo’u sh’arav b’sodah, chatzeirosav bis’hilah; hodu lo, barchu sh’mo.

(Therefore) enter His gates with thankfulness (for the miracles), (and proceed into) His courtyard to express the praise of His greatness, (and) thank Him for the good He has done for you, and praise His Name (which represents His way of running the world to do good to us).

D’u ki Hashem Hu Elokim, He asanu v’lo anachnu – amo v’tzon mar’iso.

…hodu lo, barchu sh’mo

…thank Him for the good He has done for you, and praise His Name (which represents His way of running the world to do good to us).