You can worship Jesus with joy and gladness.

“So David went and brought up the ark of God from the house of Obed-Edom to the City of David with gladness [simchah].” (2Sam 6:12)

“You will make me full of joy in Your presence.” (Acts 2:28)

“Finally, my brethren, rejoice in the Lord.” (Phil 3:1)

“Rejoice in the Lord always. Again I will say, rejoice!” (Phil 4:4)

“Though now you do not see Him, yet believing, you rejoice with joy inexpressible and full of glory” (1Pet 1:8)

“Let us be glad and rejoice and give Him glory, for the marriage of the Lamb has come, and His wife has made herself ready.” (Rev 19:7)

“Rejoice always” (1Thes 5:16)

“but rather rejoice because your names are written in heaven.” (Lk 10:20)

“but I will see you again and your heart will rejoice, and your joy no one will take from you.” (Jn 16:22)

“and rejoice in hope of the glory of God.” (Rom 5:2)

“we also rejoice in God through our Lord Jesus Christ, through whom we have now received the reconciliation.” (Rom 5:11)

“Jesus met them, saying, Rejoice! So they came and held Him by the feet and worshiped Him.” (Matt 28:9)

“You have put gladness [simchah] in my heart” (Ps 4:7)

“In Your presence is fullness of joy [simchah]” (Ps 16:11)

“You have put off my sackcloth and clothed me with gladness [simchah]” (Ps 30:11)

“Then I will go to the altar of God, to God my exceeding joy [simchah]” (Ps 43:4)

“Serve the LORD with gladness [simchah]; come before His presence with singing.” (Ps 100:2)

“Because you did not serve the LORD your God with joy and gladness [simchah] of heart, for the abundance of everything,” (Deut 28:47)

“And all the people went up after him; and the people played the flutes and rejoiced with great joy” (1Kin 1:40)

“Then David spoke to the leaders of the Levites to appoint their brethren to be the singers accompanied by instruments of music, stringed instruments, harps, and cymbals, by raising the voice with resounding joy [simchah].” (1Chr 15:16)

“As for me, in the uprightness of my heart I have willingly offered all these things; and now with joy [simchah] I have seen Your people, who are present here to offer willingly to You.” (1Chr 29:17)

“Then they returned, every man of Judah and Jerusalem, with Jehoshaphat in front of them, to go back to Jerusalem with joy [simchah], for the LORD had made them rejoice over their enemies.” (2Chr 20:27)

“So they sang praises with gladness [simchah], and they bowed their heads and worshiped.” (2Chr 29”30)

“Also that day they offered great sacrifices, and rejoiced, for God had made them rejoice with great joy [simchah]” (Neh 12:43)

The Jews had light and gladness, joy and honor.” (Est 8:16)

“the whole multitude of the disciples began to rejoice and praise God with a loud voice for all the mighty works they had seen” (Lk 19:37)

Reading: 2Sam 6-8; Lk 9