Imperfect is the joy not shared by all.
The first thing one learns on the way is that the joy of giving is far greater than the joy of taking.
Then gradually one learns that to forget oneself is the source of immutable peace. Later on, in this self-forgetfulness, one finds the Divine, and that is the source of an ever-increasing bliss.
Sri Aurobindo told me one day that if men knew this and were convinced of it, they would all want to do yoga.