I will bless the LORD who has counseled me; indeed, my mind instructs me in the night. I have set the LORD continually before me; because He is at my right hand, I will not be shaken. Therefore my heart is glad and my glory rejoices; my flesh also will dwell securely. For You will not abandon my soul to Sheol; Nor will You allow Your Holy One to undergo decay. You will make known to me the path of life; In Your presence is fullness of joy; In Your right hand there are pleasures forever.
The life lived in close fellowship with God is a life overflowing with joy!
Some people's view of the Christian life is one of grim determination, a life where "commitment" means that I don't enjoy anything, but everything is about sacrificing what I'd like.
But listen to what David says in this Psalm: "My heart is glad and my glory rejoices…fullness of joy…pleasures forever." Does it sound like David was a solemn character? Where did his joy and gladness come from? He tells us, "I have set the Lord continually before me." That joyful determination to put God first meant that God got involved in David's life. God was "at my right hand".
We often fall so far short of what we want to do for God, but you need to recognize that God never falls short, if we will walk with Him.