The language does the work: evoking a god-like voice that booms with a prophetic message — the titular “we will rock you”— and pulls you in as one of the “we.”
It persuades your brain that you are not alone. You're one of a legion whose voices bolster your own.
Queen multiplies the effect by bringing your hands and feet into play. Even if you're just driving around and nodding your head, you know the stomp-stomp-clap combo. The motion and reverb help you feel in your body what you're learning in your brain: that you're part of the world's larger, shared heart.
That we're all beside and behind you, giving you courage.
Here's the clip from Bohemian Rhapsody in which the band puts the song together, considering how to create a shared experience with their audience.