In the book of Psalms, especially in chapter 95, we can see how these God-inspired authors recognize His mighty majesty.
When we go before His presence, let us do it with joy and with praises of the heart. May we make this gesture with joy and may that worship be received by God.
1 O come, let us sing unto the Lord: let us make a joyful noise to the rock of our salvation.
2 Let us come before his presence with thanksgiving, and make a joyful noise unto him with psalms.
In these first verses of Psalm 95 we see we are invited to go before Him with joy because He is good and His work in us is great and powerful