Worship is like coming home...

Ps.22:27 All the ends of the earth shall remember
    and turn to the Lord,
and all the families of the nations
    shall worship before you.
28 For kingship belongs to the Lord,
    and he rules over the nations.

29 All the prosperous of the earth eat and worship;
    before him shall bow all who go down to the dust,
    even the one who could not keep himself alive.
30 Posterity shall serve him;
    it shall be told of the Lord to the coming generation;
31 they shall come and proclaim his righteousness to a people yet unborn,    that he has done it.

This Psalm, very much a Messianic one, looks forward to a day when people will "come home" to worship God.  All kinds of people: those who rule and are rich, as well as those who cannot even afford to "keep themselves alive," those of the present, as well as those of future generations.  The bottom line is that all will recognize that "He has done it." God is the One who has initiated His redemptive, restorative work of bringing us back to Himself.  Therefore, the psalmist is able to sing in the verses preceding these: 

25 From you comes my praise in the great congregation;
    my vows I will perform before those who fear him.
26 The afflicted shall eat and be satisfied;
    those who seek him shall praise the Lord!
    May your hearts live forever!

May your heart rejoice and live forever, praising God for what He has done in Christ!