יִשְׂמַ֣ח יִשְׂרָאֵ֣ל בְּעֹשָׂ֑יו בְּנֵֽי־צִ֝יּ֗וֹן יָגִ֥ילוּ בְמַלְכָּֽם׃
Qu’Israël se réjouisse de son créateur, que les fils de Sion éclatent en transports pour leur Roi!
Likutei Moharan
and whoever does the mitzvah in joy from the mitzvah in itself, hence, when he enters the simchah that is in the mitzvah, he enters the simchah of Hakadosh Baruch Hu, who is rejoicing in his works, and this is like (ibid. 149): "Let Israel rejoice with its Maker."