Isaiah 51.11:

"And the ransomed of the LORD shall return and come to Zion with singing; everlasting joy shall be upon their heads; they shall obtain gladness and joy, and sorrow and sighing shall flee away."

"The pilgrimage that the prophet has in mind eclipses any other. The old pilgrimages occurred three times a year for the prescribed feasts. . . . Here the language of pilgrimage is retained, but we are given a glimpse of the end. We have returned to the ultimate hope expressed in 2.1-5 and 11.1-16." -DA Carson