"Sing unto the LORD, O ye saints of his, and give thanks at the remembrance of his holiness" - Psalm 30:4

We are commanded to do so:

A. Audibly

"Sing aloud to God our strength; shout for joy to the God of Jacob!" Psalm 81:1(RSV)

B. Joyfully

"O let the nations be glad and sing for joy: for thou shalt judge the people righteously, and govern the nations upon earth." - Psalm 67:4

C. To the Lord - with God as the Audience

"I will sing unto the LORD as long as I live: I will sing praise to my God while I have my being." - Psalm 104:33 (See also: 68:4, 13:6)

D. Responsively - (i.e., in response to the kindness of God to us)

"Sing unto the LORD with thanksgiving; sing praise upon the harp unto our God" - Psalm 147:7

Sing= "to answer, respond, testify, speak, shout"

E. With Variety

"Let the word of Christ dwell in you richly in all wisdom; teaching and admonishing one another in psalms and hymns and spiritual songs, singing with grace in your hearts to the Lord" - Colossians 3:16

"And be not drunk with wine, wherein is excess; but be filled with the Spirit; Speaking to yourselves in psalms and hymns and spiritual songs, singing and making melody in your heart to the Lord" - Ephesians 5:18-19

Psalms "The Psalms in the Old Testament originally with musical accompaniment"

Hymns "Praises to God composed by the Christians like 1 Timothy 3:16"

Spiritual songs. . . . . . "General description of all whether with or without instrumental accompaniment). The same song can have all three words applied to it."

Definitions by A. T. Robertson

"Praise the LORD with the lyre, make melody to him with the harp of ten strings! Sing to him a new song, play skillfully on the strings, with loud shouts." - Psalm 33:2 (RSV)

2. Praise is the Place God Likes to Hang Out

"But thou art holy, O thou that inhabitest the praises of Israel" Psalm 22:3

Praises= "praise, song or hymn of praise, praise-song (as title)"

Inhabit= "to dwell, remain, sit, abide"