When we cry out to God He will not forsake us. A good example of this in the Bible is to look at the life of David. David did so many things that were wrong in the sight of God, however he knew enough to seek God after he did wrong. He knew he needed to repent of what ever sin he had committed and ask God to forgive him.
Just like us today, David fell many times in his relationship with God, but each time he would get back up and once again he would seek the forgiveness of God. And because we serve a most gracious and kind God, when we are truly sorrowful for the wrongs that we have done, He is willing to forgive us. He is willing to heal us.
O Lord my God, I cried out to You,
And You healed me. Psalm+30:2 NKJV
David was so happy that he sung praises to God because when he called out to God, He protected him from his enemies. We too have that protection available to us, all we need to do is to connect with the Power Source and just like David we will also experience a life of joyfulness and we too will then be able to sing the praises of God.