To utter sounds of joy or exultation; to make demonstrations of joy; to rejoice, exult. In recent newspaper use, sometimes, To celebrate a jubilee or other joyful occasion.
a1641 Bp. R. Montagu Acts & Mon. Such as Almighty God did+replenish+could not but jubilate. 1659 Hammond On Ps. lxxxiv. 3 To cry aloud, vociferate or jubilate. 1721 R. Keith tr. à Kempis' Vall. Lilies xxvii. O ye Cherubim and Seraphim+how fervently, and how excellently do ye sing and jubilate aloud before God. 1837 Carlyle Fr. Rev. I. v. i, Hope, jubilating, cries aloud that it will prove a miraculous Brazen Serpent in the Wilderness. 1851 S. Judd Margaret iii. The birds are jubilating in the woods.
[OED]