מדרש אויף תהילים 105:3

“…that he did not obey her…” (Bereshit 39:10) Rebbe said: he listened to her but the Holy One brought the likeness of his father and he was embarred and fled. The second time he went in (to her) the Holy One lifted up the foundation stone and said to him, ‘if you touch her, behold I will throw it down and destroy the world!’ This is what is written, “…and his arms were gilded from the hands of the Mighty One of Jacob; from there he sustained the rock of Israel.” (Bereshit 49:24) R’ Shmuel bar Nachmani said in the name of R’ Yochanan: anyone who does one commandment in this world, it precedes him and goes before home in the World to Come as it says, “…and your righteousness shall go before you…” (Isaiah 58:8) and anyone who transgresses one transgression in this world it clings to him and goes before him to the Day of Judgement as it says, “The paths of their way are held [by them]; they go up in waste and are lost.”

Another thing, sing to God. (Isaiah 43:18) "Do not remember the former things" (ibid. 19) "Behold, I am doing a new thing" (ibid. 21) "This people I have formed for Myself" (ibid.) Thus said the Holy One, blessed be He: Just as I make these new things, so they said to Me to sing a new song. Therefore, it is said, "Sing to God a new song." And why did they see fit to say to sing with joy? Because they see and rejoice with Him, as it is said, "Let God rejoice in His works" (Psalms 104:31), and it is written, "Praise His holy name" (ibid. 105:3), and it is written, "Our soul waits for God" (ibid. 33:20). The Holy One, blessed be He, said: You see Me and rejoice and reveal yourselves, and I also see you and reveal Myself and rejoice, as it is said, "I will rejoice in Jerusalem and delight in My people" (Isaiah 65:19). Therefore it is said, "Let them praise His name with dancing" (Micah 7:15), "As in the days of your exodus from the land of Egypt" (ibid.), as it is said, "And all the women went out" (Exodus 15:20).