A universal call reaches out to the nations of the world, urging them to recognize God's greatness. While this song was originally sung during the bringing up of the Ark of the Covenant, its deeper message looks ahead to the future era of redemption from exile. During that time, when God reveals His wonders and gathers the Israelites back together, all the nations who witness and hear of these events will acknowledge His kingship [רד״ק].
The nations are asked to offer a gift to God, which is immediately defined as splendor and majesty [רש״י, מצודת ציון, ביאור שטיינזלץ]. However, this is not a physical offering. Instead, it is a public declaration. The nations are called upon to openly state that all glory and strength belong entirely to God and rest securely in His hands [מצודת דוד].
This declaration comes from a profound new understanding. The nations will realize that God alone rules the entire world and acts according to His will. Because of His absolute authority, they will understand that it is simply incorrect to believe that anyone other than Him possesses true glory and strength [רלב״ג].