Faith in God and obedience to His commands make us righteous. If we are righteous, we will live in God's presence, Psalm 140:13 (KJV). If we live in God's presence, we will have fullness of joy, Psalm 16:11 (KJV). Epheasians 5:18 - 20 gives the New Testament view of fullness of joy: "Be filled with the Spirit, speak to one another with Psalms, hymns and spiritual songs. Sing and make music in your heart to the Lord." (NIV)
To glorify God and enjoy Him forever should have been the pursuit of man from the beginning, but sadly man disobeyed and instead of enjoying God He was affraid of God and running and hiding from Him. The very opposite of what he was created for. However, despite this, man can enjoy God again. This why Jesus came and died for man sins. When one believes in Jesus as Savior and Lord and repent of his sins he begins to enjoy God again. ARE YOU ENJOYING GOD?