1 Chronicles 13-16: The Splendor of His Holiness

1 Chronicles tells in much greater detail the story of David bringing the Ark back to Jerusalem. David conferred with each of his officers, the commanders of thousands and commanders of hundreds. He then said to the whole assembly of Israel "If it seems good to you and if it is the will of the LORD our God, let us send word far and wide to the rest of our brothers throughout the territories of Israel, and also to the priests and Levites who are with them in their towns and pasturelands, to come and join us.  Let us bring the ark of our God back to us, for we did not inquire of it during the reign of Saul."  The whole assembly agreed to do this, because it seemed right to all the people. - 1 Chron. 13:1-4 NIV

This sounds good, getting unanimous approval from the people that the Ark should be brought to Jerusalem.  Only one problem.  They did not inquire of the Lord as to how this should be accomplished.  In their zeal, they put the Ark on a cart, and when the oxen stumble and the Ark starts to fall, Uzzah places his hand on the Ark to steady it and is immediately killed.  Oops!  They dumped the Ark at Obed-Edom's place and went on about their business.  Still there was something missing without the Ark in their midst, so David finally summons the Levites.  It was because you, the Levites, did not bring it up the first time that the LORD our God broke out in anger against us. We did not inquire of him about how to do it in the prescribed way."  So the priests and Levites consecrated themselves in order to bring up the ark of the LORD, the God of Israel - 1 Chron 14:13-14 NIV

This time, they appointed singers to sing joyful songs, musicians to accompany with musical instruments, and doorkeepers to accompany the Ark.  David and the Levites clothed themselves in fine linen and sacrificed seven bulls and seven rams.  So all Israel brought up the ark of the covenant of the LORD with shouts, with the sounding of rams' horns and trumpets, and of cymbals, and the playing of lyres and harps. - 1 Chron. 15:28 NIV

What a celebration, what a way to usher in the Ark of God and His presence.  Then David commited to Asaph this song of thanks to the Lord:

Sing to the LORD, all the earth;
proclaim his salvation day after day.
Declare his glory among the nations,
his marvelous deeds among all peoples.
For great is the LORD and most worthy of praise;
he is to be feared above all gods. 
For all the gods of the nations are idols,
but the LORD made the heavens.
Splendor and majesty are before him;
strength and joy in his dwelling place.
Ascribe to the LORD, O families of nations,
ascribe to the LORD glory and strength,
ascribe to the LORD the glory due his name.
Bring an offering and come before him;
worship the LORD in the splendor of his holiness.
Tremble before him, all the earth!
The world is firmly established; it cannot be moved.
Let the heavens rejoice, let the earth be glad;
let them say among the nations, "The LORD reigns!" -1 Chron 16:23-31