This is taken out of Deuteronomy 32:43. Here it is evidently implied, that the Gentiles should become the people of God, and join with the Jews in his worship and service, and rejoice in the sense of his goodness and mercy to them. The partition wall is now taken away, and they both became one sheepfold under one Shepherd.
Related Commentaries of Romans 15:10
Romans 15:10
10 And again he saith, Rejoice, ye Gentiles, with his people.