There is a strong connection between happiness and friendship and happiness and doing good. There is nothing more joyful than a united humankind that is concerned with social justice and improving the world. Psalm 133 describes a time when all nations of the world will assemble as “the people of the God of Abraham” in peace.
A Song of Ascents of David. Behold, how good and pleasant it is when brethren dwell together in unity! (Psalm 133:1).
Psalm 17 is the shortest of all the hymns in Psalms but sends a powerful message about the future that humanity should strive for.
O praise the Lord, all nations; laud Him, all you peoples! For His lovingkindness has overwhelmed us; and the truth of the Lord endures forever. Hallelujah! (Psalm 17).
Some see Psalm 100 as a song of gratitude that all of mankind will eventually sing to God.
A Psalm of Thanksgiving. Shout out praises to the Lord, everyone on earth! Worship the Lord with joy! Enter his presence with joyful singing! Acknowledge that the Lord is God! He made us and we belong to him; we are His people, the sheep of his pasture. Enter His gates with thanksgiving, and His courtyard with praise! Give him thanks! Praise his name! For the Lord is good. His loving kindness is eternal, and he is faithful through all generations.