If you look in the Hebrew, you will see that God has many words which we translate as "rejoice." Study these different Hebrew words to see the rich tapestry of rejoicing in God!
In Revelation chapter 4 we meet the four living creatures each having six wings and were full of eyes around and within. We should work to be like these creatures, not long looking outwardly, but also inwardly, to see if there is anything within us that needs changed.