More than that, we also rejoice in God through our Lord Jesus Christ, through whom we have now received reconciliation.
Romans 5:11 ESV

God's commandments bring a level of fulfillment and peace that can't be found anywhere else, but it is only through the reconciliation purchased by Yeshua that we can ever achieve that joy. Any other path leads only to disappointment and heartache.

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Rejoice in God through Jesus - Romans 5:11

⁣More than that, we also rejoice in God through our Lord Jesus Christ, through whom we have now received reconciliation. Romans 5:11 ESV Joy is commanded throughout the Torah. This is what the book of Deuteronomy has t