This passage highlights, that as children of God we are to listen to Him. Today this could mean listening to the instructions God sets out for us in the Bible, listening to godly men and women who teach us and to our parents who God has placed in authority over us.
This is sometimes (ok most of the time) difficult to do but this proverb tells us that when we listen to God, we find joy! More than just happiness, joy is deep and long lasting.
What a blessing for following and listening to God.