Thy father
'ab (awb)
father, in a literal and immediate, or figurative and remote application) -- chief, (fore-)father(-less), patrimony, principal. Compare names in Abi-.
and thy mother
'em (ame)
a mother (as the bond of the family); in a wide sense (both literally and figuratively) -- dam, mother, parting.
shall be glad
samach (saw-makh')
probably to brighten up, i.e. (figuratively) be (causatively, make) blithe or gleesome
and she that bare
yalad (yaw-lad')
to bear young; causatively, to beget; medically, to act as midwife; specifically, to show lineage
thee shall rejoice
giyl (gheel)
to spin round (under the influence of any violent emotion), i.e. usually rejoice, or (as cringing) fear -- be glad, joy, be joyful, rejoice.