Jesus raised this issue and asked, “If David calls the Messiah ‘Lord,’ how can the Messiah be David’s son?” 

Since David called the Messiah ‘my Lord,’ how can the Messiah be his son?” ( Matthew 22: 45 )

Therefore ‘Jesus’ , Son of David is greater than David and also greater than all other kings of Israel. 

Although the people entered the land of Canaan under the leadership of Moses and Joshua, but still they did not enter into the eternal peace. Therefore, we cannot think that those who came to the land of Canaan entered into the divine peace. The Spirit of God spoke through David, and if you listen to His voice, you can find divine peace. David would not have said this if he had already received it.

for he is our God. 
We are the people he watches over,
the flock under his care.
If only you would listen to his voice today!
8 The LORD says, “Don’t harden your hearts as Israel did at Meribah,
as they did at Massah in the wilderness.
9 For there your ancestors tested and tried my patience,
even though they saw everything I did.
10 For forty years I was angry with them, and I said,
 ‘They are a people whose hearts turn away from me.
They refuse to do what I tell them.’
 11 So in my anger I took an oath:
‘They will never enter my place of rest.’
 ( Psalm 95: 7- 11 ) 

According to the voice of God spoken through David, none of them entered into God’s rest. To enter into God’s rest, people must listen to God. The voice of God, which was Jesus Christ, came on a specific day. From that day until now, the voice of Jesus has never ceased. St. Paul states that those who do not hear the voice of Jesus will end up like the Israelites who did not enter the divine peace even after wandering forty years in the desert. And only when David, who sees and believes in the second coming of Jesus, will receive true salvation.

As my vision continued that night, I saw someone like a son of man coming with the clouds of heaven. He approached the Ancient One and was led into his presence. 14He was given authority, honor, and sovereignty over all the nations of the world, so that people of every race and nation and language would obey him. His rule is eternal—it will never end. His kingdom will never be destroyed. ( Daniel 7: 13- 14 )

 I will give him the honors of a victorious soldier, 
because he exposed himself to death.
He was counted among the rebels.
He bore the sins of many and interceded for rebels.
( Isaiah 53: 12 ) 

The words testify that David’s tomb is still in Israel, and even if we go to the tomb to mourn or pray, it is of no use. And to believe that Jesus is greater than David, this much is sufficient.

 Be careful then, dear brothers and sisters. Make sure that your own hearts are not evil and unbelieving, turning you away from the living God. 13 You must warn each other every day, while it is still “today,” so that none of you will be deceived by sin and hardened against God. 14 For if we are faithful to the end, trusting God just as firmly as when we first believed, we will share in all that belongs to Christ. 15 Remember what it says:

 “Today when you hear his voice,
don’t harden your hearts
as Israel did when they rebelled.”

 16And who was it who rebelled against God, even though they heard his voice? Wasn’t it the people Moses led out of Egypt? 17And who made God angry for forty years? Wasn’t it the people who sinned, whose corpses lay in the wilderness? 18And to whom was God speaking when he took an oath that they would never enter his rest? Wasn’t it the people who disobeyed him? 19 So we see that because of their unbelief they were not able to enter his rest. ( Hebrews 3: 12- 19 )