The feeling of joy upon discovering God may be compared to that of a father who asks his child difficult questions and rejoices when he answers them correctly.
The most crucial question that God asks us is “Where am I?”
To answer this question, a person must overcome stumbling blocks, work his way through errors, and emerge from a labyrinth, after which he can respond, “You are here!”
The person rejoices because he feels close to God and because he feels God’s joy on his behalf.
Rabbi din Steinsaltz