Мусар к Тегилим 149:2

All of those benefits are trivial compared to the good for the soul, which is truly a great benefit, without measure. Therefore, let Israel rejoice in its Maker (Psalms 149:2), who chose us out of all the nations, and gave us a Torah of truth, and implanted within us eternal life, and sanctified us with His commandments, and chose us to serve Him and to bless in His name (Deuteronomy 10:8), that through these things, we will merit to live and inherit goodness and blessing for the life of the world to come, which is a great good, so much so that it was said: "A single hour of tranquility in the world to come is preferable to all of life in this world" (Pirkei Avot 4:17). And this is what one should think when one labors for the sake of reward. But when one reaches the level of being like slaves who serve the master not for the sake of reward (see Pirkei Avot 1:3), then one should rejoice more and more at the privilege of being a slave to a Sovereign lofty and exalted, majestic and awesome, whose grandeur is beyond understanding, and who selected us out of all of the nations and out of all of the heavenly hosts, who desires us and who loves us. And God wanted to credit Israel, therefore He proliferated Torah and commandments for them, and He is eager in His love, despite our being mortals like vain vapors (Psalms 144:4). This is a great and peerless good, to those who contemplate the grandeur of the Creator and contrast it with the lowliness of man. And through this, one will recognize and know, that it is a great benefit that He chose us and drew us to His service, so that they said in truth: "A single hour of Torah [sic] and good deeds in this world is preferable to all of the world to come" (Pirkei Avot 4:17). And one should consider what has been honor and greatness (Esther 6:3) for the lowliest of people?—That the king was eager for his honor (Esther 6:6-11), and chose him to stand before him and to serve him, even though he is flesh and blood, a fetid droplet, just like him—how much more so the degree of separation of the Omnipresent above us, up to a place that the power of our minds cannot divine, so great is the good that our Creator, our Deviser, our Maker, has granted us.

For this is the true joy, namely, that a person's heart delight that he merits to serve before the blessed Master, of whom there is none like Him, and to toil in His Torah and His mitzvot which are the true perfection and the eternal worth. And Shlomo said in a parable on wisdom: "Draw me, we will run after You. The King has brought me into His chambers; we will be glad and rejoice in You" (Shir HaShirim 1:4). For the further a person merits to enter into the inner chambers of knowledge of His blessed greatness, the more his joy will increase and his heart will sing within him. And scripture states: "Israel will rejoice in its Maker; the children of Zion will exult in their King" (Tehilim 149:2).

May the blessed G-d, in His mercy, open our eyes in His Torah, teach us His ways, guide us in His paths, so that we may merit to give honor to His Name and bring gratification to Him. "The glory of G-d will be forever; G-d will rejoice with His works" (Tehilim 104:21), "Israel will rejoice with its Maker; the children of Zion will exult with their King" (Tehilim 149:2), amen, amen, amen!