re-joice / rĭ-jois
1. to feel joyful and happy
He is a wise man who does not grieve for the things which he has not, but rejoices for those which he has.
Epictetus, 55 – c. 135
2. (archaic) to make glad or joyful
She is a girl who rejoices my heart, and, please God, she will rejoice it yet more.
From “Under the Willow Tree” by Hans Christian Anderson, 1805 – 1875
Through the Middle English verb rejois(s)en (possess, enjoy, have the fruit of) from the stem rejois- of the present active participle of the Old French verb re(s)joir (rejoice), a combination of the intensifying prefix re- taken from Latin and the verb esjoir (be glad) derived from a combination of the Latin prepositional prefix ex- (out of, from) and the same root, gau- as the deponent Latin verb gaudeo, gaudere, gauisus sum (be pleased, rejoice, be glad, delight, please).
Thank you to Allen Ward for providing this etymology.