There is joy in walking with almighty God plus there are many other benefits.

Psalm 89:

14 Righteousness and justice are the foundation of your throne.
Unfailing love and truth walk before you as attendants.
15 Happy are those who hear the joyful call to worship,
for they will walk in the light of your presence, Lord.
16 They rejoice all day long in your wonderful reputation.
They exult in your righteousness.
17 You are their glorious strength.
It pleases you to make us strong.
18 Yes, our protection comes from the Lord,
and he, the Holy One of Israel, has given us our king.