The Highlanders won their third game of the season, beating the Hurricanes 49-44 in Wellington on Saturday night.
The win lifted the Highlanders off the bottom of the table and they will complete their season with a match against the Rebels in Melbourne on Friday night.
They scored six tries to five on Saturday night in Wellington, in an entertaining fixture, holding on after the Hurricanes came within five points with five minutes to play in a match where defence took a back seat.
Joseph said a loss would have been tough to take.
''It would have been hellishly disappointing had we lost the match. We played some nice rugby and scored some really good tries,'' he said.
''The confidence is back in some of the guys. The last three games, I thought we have played pretty well. I think back to the Blues, and then against the Crusaders we did exactly the same stuff but our discipline cost us.
''You can't expect to beat a team like the Crusaders when you are down a man for firstly 10 minutes then 30-odd minutes in the second half.
''But I'm proud of the team and they looked to have turned the corner. We are getting a lot more guys back from injury. The likes of Tamati Ellison are back now and showing his leadership out there and being on top of his game.''
Joseph said the start of the season, when the Highlanders had eight straight losses, seemed years ago.
''I think at the beginning of the season a lot of those games we lost were very close, which in the last year or two we managed to win.
''This time, we managed to win a close one. Early in the season, we had a lot of injuries and that can knock your confidence.''
Key players were fit and it was a game which did not have a lot of structure, so players had the opportunity to show their attacking skills.
Three of the best for the Highlanders were departing outside backs, Ellison, Hosea Gear and Kade Poki. They are going to be hard to replace.
Things are more promising up front, where young loose forwards TJ Ioane and Elliot Dixon had stand-out games.
''Elliot goes from strength to strength. He's starting to show the potential he really has,'' Joseph said.
''To me, TJ has been the find of the season. He came in at a difficult time in the season and has played well in every game.''
No 8 Mose Tuiali'i rolled his ankle in the second half and is doubtful for the match against the Rebels.
The rest of the players were sore and tired after a physically tough match and Joseph said it would be a light training week.
In other results in the weekend, the Cheetahs sealed a playoff spot with a 34-13 win over the Blues, the Stormers beat the Kings 24-12 in Port Elizabeth, and the Bulls went to the top of the table, with a close 20-19 victory over the Sharks in Pretoria.
