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.

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.