Piper, from God’s Passion for His Glory: Living the Vision of Jonathan Edwards:
Sometimes people ask: should we pursue obedience to God or joy in God? Edwards would answer: The question involves a category confusion.
It’s like asking: should I pursue fruit or apples?
Obedience is doing what we’re told. And we are told to delight ourselves in the Lord. Therefore pursuing joy in God is obedience.
In fact, when the psalm says, “Serve the Lord with gladness,” it implies that the pursuit of joy must be part of all our obedience.