jubilate \JOO-buh-leyt\, verb:
1. To show or feel great joy; rejoice; exult.
2. To celebrate a jubilee or joyful occasion.
Though this sudden setback of the plague was as welcome as it was unlooked-for, our townsfolk were in no hurry to jubilate.
-- Albert Camus, The Plague
This would enable me to jubilate like a normal person, knowing why.
-- Samuel Beckett, The Unnameable
Jubilate derives from the Latin word jūbil- meaning "to shout."