In the book of Hebrews, it says, for the joy set before Him, Christ endured the cross. Now we don't normally put joy and the cross together. So let's think that through a little bit, Christ is going to the cross. It is a place of humiliation and shame. It is a place of amazing pain. He's going because we are separated from God because of sin. And as He goes, He knows He's going to take on the sin of every person that is ever lived or ever will live your sin and mine. So he's going to the cross knowing all of this, but He says, for the joy set before Him, He's going to enter that. 

So what is this amazing joy, it is the fact that we were separated from God, and now we won't be. It is the way that he can bring us back in, we can connect with him, and we can feel his presence right now. That's the joy, we can recognize that he is glad to be here with us, whereas before we were separated forever. There is joy.