Kilmarnock CM is a great singing tune for a group of hearty people passionate about praising God. It does not need music accompaniment really. This version is short, so it could be sung twice with a prayer in the middle, as with accompaniment the second time, or as a lead into another song (Rejoice 1, another CM, etc). Since I could not arrange a choir, this sample track has a female lead. Rejoice Hymnal has this tune in Eb (67) and D (500) but for the congregation, C is best (as here). To introduce this psalm, one can note that Psalm 16 points to Christ's resurrection glory (Acts 2:25-28) and so we celebrate that we are alive in Christ and this gives us confidence to declare that God's presence is our joy - now and forevermore.