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The Hebrew Bible and Rabbinical literature contain numerous references to Joy in connection with complete devotion and sincere subjection of our free will and conduct to Avodat Hashem (divine worship of G-d and observance of the Torah Mitzvot or commandments).
Maimonides
Rambam (Maimonides or Rabbi Moshe Ben Maimon) DOES MENTION JOY SPECIFICALLY IN CONNECTION WITH SUCCOTH, chapter 8, Halakha 15, as quoted by Rabbi Yoel Liberman (yeshiva.org).
He also quotes sources that state that a person may even make a fool of himself in the process of over-joy for the sake of the Torah. For example, King David mightily danced in front of the Holy Ark and Sefer Torah, upon their return to Jerusalem (Samuel II 6:14), as he appeared to make a fool of himself (so to speak).
For not being happy in good heart when keeping the Torah commandments, the Torah prescribes curses and punishments, as quoted in Devarim Deuteronomy 28:45-47:
Raneinu Bechaye Ibn Pekuda
Raneinu Bechaye Ibn Pekuda [RBIP], a giant rabbinical scholar and philosopher, 11th century, Spain, writes in his monumental magnum opus book - Duties of the Heart (Chovot Halevavot), source: Aspklaria, an online Jewish Alphabetical reference):
A person should keep away from pure physical joy that leads to over-indulgence in physical pleasure which could lead to sin, and he should not rejoice in the misfortune of others, or be depressed.
The latter could be detrimental to his health as melancholy could dry his bones (see Mishlei Proverbs 17:5 & 22). According to RBIP; the joy involved in fulfilling a Mitzva (Torah commandment) brings about a reward GREATER than the reward for fulfilling the Mitzva itself! This is truly amazing.
Shulchan Arukh
While Shulchan Arukh (codified Jewish law) does not mention being happy as a specific positive Torah commandment, indirectly it does so, because being happy contributes to good health, as mentioned above.
Our tradition of Simcha
According to the sages, in particular Chassidic teaching; excessive rejoicing on Purim and Succoth, for the sake of the Torah, has an immense power to atone for and convert our transgressions to merits.
Simchat Torah (rejoicing with the Torah) at the end of Succoth is a uniquely momentous occasion, which we should all grasp, to merit another wonderful year in health, wealth and happiness, and hasten our final redemption.
Such moment of true divine joy should remain with us for the rest of the year.
Selective sources about being joyful
Devarim Deuteronomy 12:7-12, Psalms 2:11, 35:27, 97:11-12, 100:2, and 113:9.
Rabbis in Midrash
Lessons
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Kuzari -Rabbi Ari Shvat Kuzari class 9 - "Seeing is Believing" (parag. 21-30)
These paragraphs elaborate on the theme that seeing and knowing is better than any attempt to prove logically, and begins explaining the difference between Israel and gentiles.
Ein Aya Various Universal Stages of the Geula Process
Rav Kook examines the various stages of redemption, explaining how (in addition to the obvious oft-mentioned stages of ingathering the exiles, reviving the Hebrew language, army, state etc.) the messianic dream of world prosperity, the State of Israel and world unity can and are realistically and logically gradually coming true.
Kuzari -Rabbi Ari Shvat Kuzari class 8- "Answering Questions on the Kuzari's Proof from Mass Revelation
How do we know that the "claim" of mass revelation to 2,000,000 witnesses at Mt. Sinai is really true? This important class answers all of the questions skeptics ask about this claim of the Kuzari.
Ein Aya Armies Still Necessary for Balance & the War Against Wars
Rav Kook explains why the world was originally divided into the various seemingly contradicting ideologies and cultures, in order to develop each one respectively. Swords or armies symbolize how each respective ideology defends themselves, as well as deters their opposing ideologies and cultures. On the other hand, the messianic era will be one of peace, and Rav Kook explains the transition to that stage, which mankind is already undergoing.
The Land of Israel LGBT'S IN ISRAEL
The question was asked, how can one make Aliyah with the LGBT parades?
Kuzari -Rabbi Ari Shvat Kuzari class 7 - Five Accumulative Proofs of G-d
As a preparation for the Kuzari's classic proof of G-d from the mass-revelation at Sinai, we start here with 5 other directions to strengthen our belief which also contribute to what the Kuzari will present as well.
Ein Aya Muscle & Meaning: The Dual Nature of Gevurah (Physical Strength)
Is physical strength and fitness a necessity or an ideal? Although it if often totally overlooked among topics of Judaism, Rav Kook writes that it clearly is also a necessity to deter the many enemies of Israel, but even in Y'mot HaMashiach, in the Messianic era, to a certain extent, it's ideal continues even after our enemies will have been finished off.
