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.