Jisho

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Godan verb with 'bu' ending, Transitive verb, Intransitive verb
1. to be delighted; to be glad; to be pleased; to rejoice
Godan verb with 'bu' ending, Transitive verb
2. to congratulate
Godan verb with 'bu' ending, Transitive verb
3. to welcome (a proposal, advice, etc.); to take kindly to
Godan verb with 'bu' ending, Intransitive verb
4. to do with pleasure; to do gladly; to be happy (to do)See also 喜んで, as よろこんで...
Other forms
悦ぶ 【よろこぶ】歓ぶ 【よろこぶ】慶ぶ 【よろこぶ】欣ぶ 【よろこぶ】

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