Joy is one of a group of small canvases (measuring 12 x 11 inches or 10 x 8 inches) featuring a combination of three or four-letter words and orbs that Indiana painted in 1961. It was first exhibited in the 1962 show Indiana / Natkin, at the Stubbing and Greenfield Gallery, Mamaroneck, New York. The work was purchased by Eleanor Ward, owner of Stable Gallery, New York, where he held his first solo exhibition (Robert Indiana, October 16–November 3, 1962).
The word "joy" appeared again in a series of 1963 rubbings which the artist sent to friends.
Joy is currently on display in Robert Indiana: The Sweet Mystery, at the Procuratie Vecchie, Venice.