New Revised Standard Version
So he brought his people out with joy, his chosen ones with singing.

Contemporary English Version
When the Lord rescued his chosen people from Egypt, they celebrated with songs.

New American Bible
He brought his people out with joy, his chosen ones with shouts of triumph.

Douay-Rheims Bible
And he brought forth his people with joy, and his chosen with gladness.

And he brought forth his people with joy, and his chosen with gladness.

and he

Psalm 78:52,53 And he took away his own people as sheep: and guided them in the wilderness like a flock. . . .

Psalm 106:8-12 And he saved them for his own name's sake: that he might make his power known. . . .

Exodus 15:13 In thy mercy thou hast been a leader to the people which thou hast redeemed: and in thy strength thou hast carried them to thy holy habitation.

Deuteronomy 4:37,38 Because he loved thy fathers, and chose their seed after them. And he brought thee out of Egypt, going before thee with his great power, . . .

Isaiah 63:11-14 And he remembered the days of old of Moses, and of his people: Where is he that brought them up out of the sea, with the shepherds of his flock? where is he that put in the midst of them the spirit of his Holy One? . . .

Acts 7:36 He brought them out, doing wonders and signs in the land of Egypt and in the Red Sea and in the desert, forty years.

Acts 13:17 The God of the people of Israel chose our fathers and exalted the people when they were sojourners in the land of Egypt: And with an high arm brought them out from thence:

with joy

Isaiah 35:10 And the redeemed of the Lord shall return, and shall come into Sion with praise, and everlasting joy shall be upon their heads: they shall obtain joy and gladness, and sorrow and mourning shall flee away.

Isaiah 51:10,11 Hast not thou dried up the sea, the water of the mighty deep, who madest the depth of the sea a way, that the delivered might pass over? . . .

Isaiah 55:12 For you shall go out with joy, and be led forth with peace: the mountains and the hills shall sing praise before you, and all the trees of the country shall clap their hands.

Jeremiah 31:11,12 For the Lord hath redeemed Jacob, and delivered him out of the hand of one that was mightier than he. . . .

gladness.

Psalm 106:12 And they believed his words: and they sang his praises.

Exodus 15:1 Then Moses and the children of Israel sung this canticle to the Lord, and said: Let us sing to the Lord: for he is gloriously magnified, the horse and the rider he hath thrown into the sea.