When we just do something, straight away, without thinking, it brings us simple pure joy. Not in the forward-thinking sense of completing an achievement, it is in the simple pleasure of this real moment now.
We can only ever do something now, of course, but all too often the doing is drowned out by the endless thoughts of the outcome, or whether or not we are doing it right, or if we should even be doing it at all, or how can we avoid doing so as not to expose ourselves to criticism and the list of thoughts can go on and on. So we do not experience joy when we are taken over by our thoughts.
Now is where we experience joy, only if we are disconnected from our thoughts.