עִבְד֣וּ אֶת־יְהוָ֣ה בְּשִׂמְחָ֑ה בֹּ֥אוּ לְ֝פָנָ֗יו בִּרְנָנָֽה׃
Dient dem Herrn mit Freude, erscheint vor ihm mit Jubelgesang.
Rashi on Psalms
Serve the Lord with joy Now why so much? You should know the Lord is God, Who recompenses you with reward for your work, but the heathens need not worship with joy because their deities do not give them any reward.