Unfortunately, man's nature complicates things, and we often cheat ourselves out of great joy by doing "our own thing." How sad. There is no doubt God's plan for man includes man's happiness.
God teaches us joyful living in at least two places. Biblically it is called "walking in fellowship." This First Epistle of John focuses on "fellowship." A verse-by-verse expository of that valuable material is extremely helpful.
Also, the Old Testament prophet Enoch was given to us as a role model. God reduced his life of several years into three short phrases: "He walked with God. He pleased God. He was translated to heaven." God showed his pleasure with his "walk" by taking him up to heaven without his seeing death.
Skimming along the surface, modern man has developed a superficial lifestyle. You will see the joy of living a life of "fellowship with God" on God's terms.