12 And they said to King David, The blessing of the Lord is on the family of Obed-edom and on all he has, because of the ark of God. And David went and took the ark of God from the house of Obed-edom into the town of David with joy. 13 And when those who were lifting the ark of the Lord had gone six steps, he made an offering of an ox and a fat young beast. 14 And David, clothed in a linen ephod, was dancing before the Lord with all his strength. 15 So David and all the men of Israel took up the ark of the Lord with cries of joy and sounding of horns. 16 And when the ark of the Lord came into the town of David, Michal, Saul's daughter, looking out of the window, saw King David dancing and jumping before the Lord; and to her mind he seemed foolish. 17 And they took in the ark of the Lord, and put it in its place inside the tent which David had put up for it: and David made burned offerings and peace-offerings to the Lord.
Matthew Henry's Commentary on 2 Samuel 6:12-17
Commentary on 2 Samuel 6:12-19
(Read 2 Samuel 6:12-19)
It became evident, that happy was the man who had the ark near him. Christ is indeed a Stone of stumbling, and a Rock of offence, to those that are disobedient; but to those that believe, he is a Corner-stone, elect, precious, 1 Peter 2:6-8. Let us be religious. Is the ark a blessing to others' houses? We may have it, and the blessing of it, without fetching it away from our neighbours. David, at first setting out, offered sacrifices to God. We are likely to speed in our enterprises, when we begin with God, and give diligence to seek peace with him. And we are so unworthy, and our services are so defiled, that all our joy in God must be connected with repentance and faith in the Redeemer's atoning blood. David attended with high expressions of joy. We ought to serve God with our whole body and soul, and with every endowment and power we possess. On this occasion David laid aside his royal robes, and put on a plain linen dress. David prayed with and for the people, and as a prophet, solemnly blessed them in the name of the Lord.