Each one of us has to come across following critical moments

• Sorrowful and Happy moments in our lives
• Our last moments of our lives in this world
• The questioning in grave
• The bridge of sirat
• The four questions on the day of judgement
• The weighment of deeds on the day of judgement

Pious people finds each of above as a moment that takes them nearer to their Lord. Thus it becomes a moment of joy and a moment to cheer as they have the guarantee from their Creator SWT on all of above occasions.

وَمَن يَتَّقِ ٱللَّهَ يَجْعَل لَّهُۥ مَخْرَجًۭا [الطلاق: 2]
“Whoever fears Allah, He brings forth a way out for him”
Imam Ahmad in his book ‘Al-Musnad’ and Imam Al-Hakim in his book ‘Al-Mustadrak’ narrated through the route of Abu Dhar that the Prophet peace be upon him recited this Ayah then said to Abu Dhar: “Oh, Abu Dhar, if people plan their life around the principles of this Ayah, it will suffice them”.

When we want to observe piety we should following and staying in the company of pious people. As Maulana Rumi says:
هر که خواهد همنشینی خدا
او نشیند در حضور اولیا
“Whoever wishes to be in the presence of God, let him sit in the presence of the pious people!”

Those who befriend the pious and distance themselves from friends, influences, and situations that displease Allah SWT experience true joy and peace in their hearts. The pious are those whose very presence reminds one of Allah SWT and draws the heart closer to Him.