You make known to me the path of life; in your presence there is fullness of joy; at your right hand are pleasures forevermore. Psalm 16:11
This verse reminds me of 1 Corinthians 13:12, where Paul says "For now we see in a mirror dimly, but then face to face." The joy in God's presence is "fullness of joy." It is the completion and perfect manifestation of the joy we experience here on earth.
If we seek the Lord, He will show us the path to life: to fullness of joy in heaven forever.