'rejoice' originates from Old French, specifically the word 'rejouir', where the prefix 're-' functioned as an intensifier and 'jouir' (from Latin 'gaudēre') meant 'to enjoy or be glad'.

'rejoice' changed from Old French 'rejouir' and through Middle English forms such as 'rejoisen' eventually became the modern English word 'rejoice'.

Initially, it meant 'to enjoy or be glad', and over time it has remained close to that sense as 'to feel or show joy or delight'.