The word “rejoice” is used to talk about a person feeling happy or doing things that happy people do. “Joy” is a feeling of happiness. The word "joyful" is used to talk about a person who is very happy.
God is the only one who gives true joy to people (see: Nehemiah 8:10; Romans 15:13). Joy is also a fruit of the Holy Spirit (see: Galatians 5:22). Christians should rejoice always (see: 1 Thessalonians 5:16). Christians need to have joy even when bad things are happening to them (see: Romans 5:3-5; James 1:2-3; 1 Peter 1:6-9; 4:12-13). For example, Paul rejoiced even while he was in prison (see: Philippian 1:18; 2:17-18).
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