Yes, God is well known to laugh but not at those who follow His Commandments.
Psalm 59:6-8 They return at evening: they make a noise like a dog, and go round about the city. Behold, they belch out with their mouth: swords are in their lips: for who, say they, doth hear? But thou, O LORD, shalt laugh at them; thou shalt have all the heathen in derision.