How do we know God is a joyful God?

God's nature is inherently joyful, as evidenced by multiple passages in scripture. In 1 Timothy 1:11, He is referred to as the 'blessed God,' underscoring His happiness. God's joy is also expressed through His actions, where He seeks out the lost, as shown in the parables of the lost sheep and the prodigal son, where there is great rejoicing in heaven over each sinner who repents. This joyful engagement demonstrates that God takes immense delight in His relationship with His people and the work of redemption.