Where is "Serve Jehovah with joy, come before him with singing." found in the Bible?

This verse is found in Psalms, chapter 100, verse 2 of the Young's Literal Translation (YLT) Bible translation.

Psalms 100:2 (YLT) - Bible Verse

Serve Jehovah with joy, come before him with singing.

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And Moses said, I will turn aside now, and see this great sight, why the bush is not burnt.