"For You do not delight in sacrifice, otherwise I would give it;
You are not pleased with burnt offering.
The sacrifices of God are a broken spirit;
A broken and a contrite heart, O God, You will not despise."
It's not the work of our hands that delights God, but the work of our heart. It begins when we repent of our sins with broken and humble hearts that yearn to be in fellowship with Him. When we accept the sacrifice that Christ made on Calvary, understanding that it's nothing we do that puts us in right stead with the Father, but rather the work of Christ on the cross that is our claim for pardon. At last we are free from the bondage of sin, never to return to it as long as we remain in Christ, and we serve the Lord out of love and not out of guilt. This is what delights God. This is the truth that our Father wants us to grasp. This is the joy inexpressible that He wants us to experience.