The book of Psalms records a variety of bodily movements or gestures employed in the context of worship. Studies of gestures in the Bible have taken into consideration some references from the Psalms and have approached the topic from different angles. However, a comprehensive study of these gestures, together with the analysis of their internal context and the resultant theological implications, is missing in the scholarly literature. The goal of this study is to partially fill this void by undertaking contextual and theological analysis of ten Hebrew lexemes of whole-body gestures that have worship context in the book of Psalms.