Life is a thing of many stages and moving parts. What we do with ease at one time of life we can hardly manage at another. What we could not fathom doing when we were young, we find great joy in when we are old. Like the seasons through which we move, life itself is a never-ending series of harvests, a different fruit for every time.
The God who made us dust knows we're dust. We don't have to feel like perpetual failures because we aren't more than we are, and we don't have to be in contest and contention with everybody around us, because once I know myself and realize I have limitations, then two things happen: I realize my need for you, and I do not expect more from you than I expect from myself. So mercy comes with it, joy comes with it, authenticity comes with it, and freedom comes with it.
Learning to celebrate joy is one of the great practices of the spiritual life.