Cantate Domino, canticum novum: cantate Domino omnis terra. 
Cantate Domino, et benedicite nomini eius: annuntiate de die in diem salutare eius. 
Annuntiate inter gentes gloriam eius, in omnibus populis mirabilia eius. 

Translated:

Sing to the Lord a new song; sing to the Lord, all the earth. 
Sing to the Lord, and bless his name: announce his salvation from day to day. 
Announce among the nations his glory, and his wonders to all peoples.