וְֽצַדִּיקִ֗ים יִשְׂמְח֣וּ יַֽ֭עַלְצוּ לִפְנֵ֥י אֱלֹהִ֗ים וְיָשִׂ֥ישׂוּ בְשִׂמְחָֽה׃
Mas los justos se alegrarán: gozarse han delante de Dios, Y saltarán de alegría.
Rashi on Psalms
and they will delight with joy And this is the joy, and so will they say, “Sing to God, etc.”