Quotations are taken from the ESV.

Psalm 24:1

The earth is the LORD's and all the fullness thereof, the world and those who dwell therein,

The earth and all of its fullness belongs to God and is under His dominion. Man does not own the earth; God does. That which fills the earth is not freely available for humanity to do with as it pleases; it is under God's jurisdiction. Those who dwell within the earth are not autonomous free agents having no personal responsibility before God, for they are created beings dependent upon the sustenance God gives them. It is always dangerous to view man as a free race sovereignly controlling all into which he enters. Satan may be the prince of this world, but he does not own creation; God owns creation. Creation belongs to God. Man did not create it, man cannot control it. Men are not their own masters; they are subordinate to their Creator and must be faithful to honor and obey Him. Man's position is clearly one of subjection to the Word of God, for his nature is created, not divine. Man dwells in an environment belonging to God.

Psalm 24:2

for he has founded it upon the seas and established it upon the rivers.

Here we see the cause for God's domination of creation: He created it and maintains it. The certainty of the maintenance of God's creative works is the certainty of God Himself. He has established all that is to be. No detail of Providence is left to chance. There is a critical truth in the sustenance of God that must be embraced. God has decreed all things; He is over all things. The sovereignty of God extends to all matters; nothing escapes its influence. God's works speak forth clearly and ought to inspire faithful obedience. Man tends to be forgetful and must be frequently reminded of the great works of God.

Psalm 24:3

Who shall ascend the hill of the LORD? And who shall stand in his holy place?

The psalmist asks a poignant question: "Who shall ascend into the hill of the LORD? And who shall stand in His holy place?" The answer to this question is significant, for it identifies that which ought to occupy the greatest concerns of man. Man's noblest efforts are those which are rightly focused on meeting the requirements of these questions. First, the hill of God is desirable because it is His eternal fortress, safe from all trouble. Second, the holy place of God is that place where His presence resides. Membership in God's eternal kingdom and fellowship with Him here and now ought to concern the godly man, arousing noble deeds consistent with both of these. He must find the solutions to these problems, lest he be hopelessly lost.

Psalm 24:4-6

He who has clean hands and a pure heart, who does not lift up his soul to what is false and does not swear deceitfully. He will receive blessing from the LORD and righteousness from the God of his salvation. Such is the generation of those who seek him, who seek the face of the God of Jacob. Selah

The depiction of the godly man is highly instructive and should be carefully observed.

First, he conducts himself according to a holy pattern of life. He has clean hands and a pure heart; his deeds and his motives are wholesome. He loves the truth, running far away from error. He does not permit false teaching to enter his soul. He is a careful defender of the truth. He does not swear deceitfully; he is trustworthy, a man of his word. Satan is the father of lies, but God is Truth. God's people have a godly character about them and therefore embrace truth and shun falsehood. They are not willing to deceive. Honesty can be painful, but it is eternally rewarded. The truth is the godly man's meditation, and he will not deceive. He considers the command of God to be of primal importance. The godly man is singular in his affiliation: he is a member of God's kingdom, not of the Devil's camp.

Second, he is blessed by God. He is given righteousness by God. The saints are clothed in righteousness and are shown favor even in their weakest moments, but the wicked are exciting the wrath of God even in their greatest deeds. If God is not his salvation, there will be no salvation for him. His position is that of a free gift from God by grace. He does not earn the gifts he enjoys, but he glorifies God in them and walks in obedience to God.

Third, he is one who seeks God. God is found by those who genuinely seek Him. Men being naturally incapable of this pursuit, it must be given to them by divine grace. The attributes mentioned thus far specifically describe the ones belonging to the family of God. The reader is urged to stop and consider these things, and it is fitting that he do so, for the truths that have been mentioned are of critical importance.

Psalm 24:7-10

Lift up your heads, O gates! And be lifted up, O ancient doors, that the King of glory may come in. Who is this King of glory? The LORD, strong and mighty, the LORD, mighty in battle! Lift up your heads, O gates! And lift them up, O ancient doors, that the King of glory may come in. Who is this King of glory? The LORD of hosts, he is the King of Glory! Selah

Here we have the psalmist's response to the first six verses. His response is one of humble worship, as it should be with us. The greatness of God must inspire worship; a lifestyle of worship is the mark of the genuine believer. God's strength and might are to be remembered and proclaimed by His people. The King of glory is both known and made known by those who follow Him. God's people know His might in battle; He has conquered and delivered them from their sin.