In his sermon, Philip emphasizes the concept of finding joy in the waiting, drawing parallels between the shepherds' experience and our current lives. He explains that true joy comes from abiding in Christ and keeping His commandments, which allows us to maintain a relationship filled with love and joy. Philip encourages the congregation to actively seek joy through daily practices, like walking with God, deleting negative influences, and adding joyful elements to life. Ultimately, he reminds everyone that the fullness of joy is a gift from God, meant to be shared and glorify Him.