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Psalms 98:5

Exalt ye the Lord our God, and adore his footstool, for it is holy.

Challoner: Adore his footstoolThe ark of the covenant was called, in the Old Testament, God's footstool: over which he was understood to sit, on his propitiatory, or mercy seat, as on a throne, between the wings of the cherubims, in the sanctuary: to which the children of Israel paid a great veneration. But as this psalm evidently relates to Christ, and the New Testament, where the ark has no place, the holy fathers understand this text, of the worship paid by the church to the body and blood of Christ in the sacred mysteries: inasmuch as the humanity of Christ is, as it were, the footstool of the divinity. So St. Ambrose, L. 3. De Spiritu Sancto, c. 12. And St. Augustine upon this psalm.
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The verse in its languages

Vulgate (Clementine)
Exaltate Dominum Deum nostrum, et adorate scabellum pedum ejus, quoniam sanctum est.
Septuagint (Swete)
ὑψοῦτε Κύριον τὸν θεὸν ἡμῶν, καὶ προσκυνεῖτε τῷ ὑποποδίῳ τῶν ποδῶν αὐτοῦ.
Hebrew (WLC) shown from Psalms 99:5
רֽוֹמְמ֡וּ יְה֘וָ֤ה אֱלֹהֵ֗ינוּ וְֽ֭הִשְׁתַּחֲווּ לַהֲדֹ֥ם רַגְלָ֗יו קָד֥וֹשׁ הֽוּא

Haydock's commentary

Adore his foot-stool. The ark of the covenant was called, in the Old Testament, God's foot-stool: over which he was understood to sit, on his propitiatory, or mercy-seat, as on a throne, between the wings of the Cherubim, in the sanctuary: to which the children of Israel paid a great veneration. But as this psalm evidently relates to Christ, and the New Testament, where the ark has no place, the holy Fathers understand this text of the worship paid by the Church to the body and blood of Christ in the sacred mysteries: in as much as the humanity of Christ is, as it were, the foot-stool of the divinity. So St. Ambrose, l. 3. de Spiritu Sancto, c. 12., and St. Augustine upon this psalm. (Challoner)

The last mentioned holy Doctor inculcates the obligation of adoring Jesus Christ in the blessed Eucharist, and refutes the Capharnaites, &c., John vi. (Worthington)

The Jews adored God, shewing a relative honour, by prostrating themselves before the ark, in the same manner as Catholics do before holy images. (Berthier)

It is. Septuagint and some psalters, "he is holy." (Calmet)

Hebrew is ambiguous. (Berthier)

"I discover how I may adore the foot-stool,...without impiety. Christ took flesh of Mary,...and give it us to eat for our salvation. But none eats that flesh, till he have first adored it." (St. Augustine)

From Haydock's Catholic Bible Commentary, 1859, in the transcription made by Todd Easton and kept online by John Paul Wohlschied at johnblood.gitlab.io/haydock.

The Fathers on this verse

St Justin Martyr Dialogue with Trypho, Chapter LXIV. Justin adduces other

To this I replied, “If I were to be quarrelsome and light-minded like you, Trypho, I would no longer continue to converse with you, since you are prepared not to understand what has been said, but only to return some captious answer; but now, since I fear the judgment of God, I do not state an untimely opinion concerning any one of your nation, as to whether or not some of them may be saved by the grace of the Lord of Sabaoth. Therefore, although you act wrongfully, I shall continue to reply to any proposition you shall bring forward, and to any contradiction which you make; and, in fact, I do the very same to all men of every nation, who wish to examine along with me, or make inquiry at me, regarding this subject. …

St Augustine Expositions on the Book of Psalms, Psalm XCIX

8. “O magnify the Lord our God” ( ver. 5 ). Magnify Him truly, magnify Him well. Let us praise Him, let us magnify Him who hath wrought the very righteousness which we have; who wrought it in us, Himself. For who but He who justified us, wrought righteousness in us? For of Christ it is said, “who justifieth the ungodly.”…“And fall down before His footstool: for He is holy.” What are we to fall down before? His footstool. What is under the feet is called a footstool, in Greek ὑποπόδιον , in Latin Scabellum or Suppedaneum. But consider, brethren, what he commandeth us to fall down before. …

St Augustine Expositions on the Book of Psalms, Psalm XCIX

11. “O magnify the Lord our God!” ( ver. 9 ). Again we magnify Him. He who is merciful even when He striketh, how is He to be praised, how is He to be magnified? Canst thou show this unto thy son, and cannot God? For thou art not good when thou dost caress thy son, and evil when thou strikest him. Both when thou dost caress him thou art a father, and when thou strikest him, thou art his father: thou dost caress him, that he may not faint; thou strikest him, that he may not perish. “O magnify the Lord our God, and worship Him upon His holy hill: for the Lord our God is holy.” As he said above, “O magnify the Lord our God and fall down before His footstool:” now we have understood what it is to worship His footstool: thus also but now after he had magnified the Lord our God, that no man might magnify Him apart from His hill, he hath also praised His hill. …

St Ambrose On the Holy Spirit, Chapter XI. The objection has been made, that the words of St. John, “The Spirit is God,” are to be referred to God the Father; since Christ afterwards declares that God is to be worshipped in Spirit and in truth. The answer is, first, that by the word Spirit is sometimes meant spiritual grace; next, it is shown that, if they insist that the Person of the Holy Spirit is signified by the words “in Spirit,” and therefore deny that adoration is due to Him, the argument tells equally against the Son; and since numberless passages prove that He is to be worshipped, we understand from this that the same rule is to be laid down as regards the Spirit. Why are we commanded to fall down before His footstool? Because by this is signified the Lord's Body, and as the Spirit was the Maker of this, it follows that He is to be worshipped, and yet it does not accordingly follow that Mary is to be worshipped. Therefore the worship of the Spirit is not done away with, but His union with the Father is expressed, when it is said that the Father is to be worshipped in Spirit, and this point is supported by similar expressions

76. But they worship not only His Godhead but also His Footstool, as it is written: “And worship His footstool, for it is holy.” Or if they deny that in Christ the mysteries also of His Incarnation are to be worshipped, in which we observe as it were certain express traces of His Godhead, and certain ways of the Heavenly Word; let them read that even the apostles worshipped Him when He rose again in the glory of His Flesh.