Psalm 24 (Hebrew numbering; Psalm 23 in Greek numbering) from the Book of Psalms is identified as a Psalm of David. In the King James Version translation, the opening line reads "The earth is the Lord's, and the fulness thereof; the world, and they that dwell therein".
Psalm 24:7-10 is used in Handel's Messiah Part II (Chorus Lift up your heads).