This psalm needs to be read in conjunction with Psalms 22nd and 23rd. In the 22nd Psalm, we see the suffering Messiah; and in the 23rd we see the Great Shepherd. In 24th Psalm, we see the King of Glory who leads the people of the Lord to the Holy Hill for worshipping the God of Eternity.

This psalm can be divided into three important parts, namely: 
1. A True God of this universe (Ps 24:1-2)
2. A true worshipper (Ps 24:3-6)
3. A True Redeemer- King of Glory (Ps 24:7-10)

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Humanity, when they lost the fellowship with the creator God; they lost the way to the Holy Hill to worship Him in holiness. Sin tarnished our understanding of God. In the darkness of Sin, humanity found their own gods.

Yes, they knew God, but they wouldn't worship Him as God or even give Him thanks. And they began to think up foolish ideas of what God was like. As a result, their minds became dark and confused. [Romans 1:21 NLT]

In this confusion of their minds- they found new gods of their own imaginations. (Note: Sin has even distorted the imaginative capacity of our minds and polluted it with unholy images- which later on became false religions as we see in this world.)

And instead of worshipping the glorious, ever-living God, they worshipped idols made to look like mere people and birds and animals and reptiles. [Rom 1:23 NLT]

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Since God the creator understood our own incapability of ascending the holy hill laden with the heavy burden of sin and ungodliness, He chose to come down as a suffering servant who would take away the sins of the world and then victoriously lead His people into the very presence of God Almighty and worship Him in holiness and purity of heart. 

The true victory is won on the cross of Calvary and every handwriting written against each one of us is cancelled by the Redeemer when He paid all our debts and delivered us. 
He cancelled the record of the charges against us and took it away by nailing it to the cross. In this way, He disarmed the spiritual rulers and authorities. He shamed them publicly by His victory over them on the cross. [Col 2:14-15 NLT]

When this victory was won, the doors of heaven opened wide to receive the Redeemer along with the victorious people of God who stood with the Lord. 
Open up, ancient gates! Open up, ancient doors, and let the King of glory enter. Who is the King of glory? The LORD, strong and mighty; the LORD, invincible in battle. [Psalm 24:7-8 NLT]. 

Our faith in Lord Jesus Christ assures us a grand entry into the very presence of God and to worship Him in His holiness and beauty. This was not possible otherwise. 

We will not be able to ascend the Holy Hill without the help of our Redeemer in every step of our approach. All human efforts fail to tread up this hill but the Redeemer gives us the victory in every step of our journey. They will receive the LORD's blessing and have a right relationship with God their saviour. [Psalm 24:5 NLT]

Food  for Thought: 

And they sang a new song with these words:

"You are worthy to take the scroll and break its seals and open it.

For You were slaughtered, and Your blood has ransomed people for

God from every tribe and language and people and nation.”
[Revelation 5:9 NLT]