ESV: So he brought his people out with joy, his chosen ones with singing.
NIV: He brought out his people with rejoicing, his chosen ones with shouts of joy;
NASB: And He led out His people with joy, His chosen ones with a joyful shout.
CSB: He brought his people out with rejoicing, his chosen ones with shouts of joy.
NLT: So he brought his people out of Egypt with joy, his chosen ones with rejoicing.
KJV: And he brought forth his people with joy, and his chosen with gladness:
NKJV: He brought out His people with joy, His chosen ones with gladness.