Psalm 2/Notes/Grammar.v. 11.872084
From Psalms: Layer by Layer
To "serve" YHWH in this context is to submit to his authority, his lordship (cf. the word אדני in v. 4), and to embrace his "decree" (vv. 7-9). So SDBH: "action by which humans, either as individuals or as groups, assume a position of subservience towards a deity, perform the required rituals, and live in accordance with the requirements of that deity."