Sing for joy to God our strength;
    shout aloud to the God of Jacob!

This verse reminds me of a song from Third Day, Sing a Song.

When there is joy—pure joy—our hearts burst with such joy and song.

I did a word search on this phrase ‘sing a song‘ on Biblegateway.com and it came up with 158 possible matches.  One match came up with Miriam and Aaron singing praises in the desert while they were traveling to the Promised Land.

And Miriam responded to them, Sing to the Lord,
for He has triumphed gloriously and is highly exalted;
the horse and his rider He has thrown into the sea.
Exodus 15:21

The Egyptians had just drowned in the Dead Sea.  They had seen a miracle—the water parting in front of the Jewish people and they had been able to cross over safe and securely.