Here’s an intergenerational setting of Psalm 100 written by Carolyn Brown. It’s set for one leader and two groups. Brown suggests that the two groups could be choir and congregation or two halves of the congregation.
Leader: Make a joyful noise to the Lord, all the earth.
Group 1: Worship the Lord with gladness!
Group 2: Come into God’s presence with singing!
Leader: Know this! The Lord is God.
Group 1: Know this! We belong to the Lord who made us.
Group 2: Know this! We are God’s people,
and the sheep of God’s pasture.
Leader: So, enter God’s gates with thanksgiving,
Group 1: Come into the holy courts with praise.
Group 2: Give thanks to God and bless God’s holy name.
Leader: For the Lord is good;
Group 1: God’s steadfast love endures forever,
Group 2: God’s faithfulness is for all generations.
— based on NRSV and Presbyterian Book of Common Worship. Written by Carolyn Brown, on the Worship for Kids page of the Ministry Matters website. Visit there for other great suggestions for intergenerational worship.