Psalm 68:3-4 But let the righteous be glad; let them rejoice before God: yea, let them exceedingly rejoice. Sing unto God, sing praises to his name: extol him that rideth upon the heavens by his name JAH, and rejoice before him.
With shouts of praise and sound of trumpets, David and his people took the Ark to Mt. Zion. It was time to praise God whose presence brings great joy. The Lord arose and drove away the enemy and the wicked perish at the presence of God. But the believers (the righteous) are glad and rejoice.
When we repent and believe and let Jesus into our heart to take up residence there and make His Presence known in our body, the temple. He drives away the enemies of our soul and brings only joy and peace. Fear, doubt, worry, anxiety, depression, and discouragement flee away, and joy rules. By the power of the Holy Spirit we invite Jesus into the heart to drive away fears and establish peace and love; and we reinvite every day to remind ourselves what we have and whose we are. The daily response is continual praise and exceeding rejoicing.