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Victorious in war, David was not unmindful of the central truth of the national life over which he was called to preside. The nation was indeed a theocracy, with the worship of God at its very center.
Believing this, David prepared to bring the Ark into the capital. When he did a startling event occurred. Contrary to instructions given long before to Moses, the Ark was placed on a new cart. As they started on their way, the oxen drawing the cart stumbled; and one man, daring to stretch forth his hand in an attempt to steady the Ark, was at once smitten with death.
The effect on David of ,this terrible vindication of the divine majesty was remarkable. He was displeased, and yet afraid. So afraid that for the moment he dared not go forward with his purpose, and, consequently, the Ark rested for three months in the house of Obed-edom.
At last, however, it was taken forward to Jerusalem. The action of David as he danced before it, which called forth the contempt of Michal, was, of course, purely Eastern, and revealed his profound recognition of the true King of his people and his sense of humility before Him.
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Morgan, G. Campbell. "Commentary on 2 Samuel 6". "G. Campbell Morgan Exposition on the Bible". https://www.studylight.org/
the Week of Proper 12 / Ordinary 17