What does Chassidus teach about serving Hashem with simcha (joy)?

What does Chassidus teach about serving Hashem with simcha (joy)?

Chassidus emphasizes that serving Hashem with joy is a fundamental principle [2, 4]. It is considered astonishing for a person to experience bitterness and discouragement, as this goes against the path taught by the Baal Shem Tov and his disciples [4]. The Rambam's teachings on the joy of serving Hashem are also highlighted in this context [2].

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