וְֽצַדִּיקִ֗ים יִשְׂמְח֣וּ יַֽ֭עַלְצוּ לִפְנֵ֥י אֱלֹהִ֗ים וְיָשִׂ֥ישׂוּ בְשִׂמְחָֽה׃
Aber die Gerechten freuen sich, jauchzen vor Gott und jubeln in Freude.
Rashi on Psalms
and they will delight with joy And this is the joy, and so will they say, “Sing to God, etc.”