If we are the children of God, then we should take great joy in our heavenly Father.
I pray that this is a joy that you have experienced and continue to experience regularly.
When we enter into a relationship with God, through faith in his Son Jesus, this should cause our hearts to be full. Then, as we walk in relationship with God and get to know him better, this joy should only grow.
As we learn about and experience his goodness, his provision, his love, and his character, our hearts will rejoice and delight in him.