The refrain provides the text's theme: trust and obey the Lord (Prov. 16:20). The three stanzas develop this theme: we show our trust by walking with God in accord with his Word and with total commitment to his will for our lives.
Psalter Hymnal Handbook
The theme of this song centers on happiness, joy and delight, found in the Christian life when God’s children walk consistently with the Lord. Similarly, Heidelberg Catechism, Lord’s Day 32, Question and Answer 86 professes that as God’s children do good works, i.e. grateful and obedient living, they will be “assured of [their] faith by its fruits.”-->