I Chronicles 15:2

Then David said,.... Either within himself, or to his ministers and courtiers about him: none ought to carry the ark of God but the Levites; he saw his former mistake in employing those that were not Levites in bringing up the ark from Kirjathjearim, and bringing it in a cart, and not on the shoulders of the Levites, and so miscarried in his attempt, Sa2 6:1 and, perhaps, had since more diligently consulted the law of God about this matter: for them hath the Lord chosen to carry the ark of God, and to minister unto him for ever; as long as the Levitical dispensation lasted, as appears from Num 1:50.

The bringing in of the ark to the city of David was a very good work; it was resolved upon (Ch1 13:4), and attempted, but not perfected; it lay by the way in the house of Obed-edom. Now this chapter gives us an account of the completing of that good work. I. How it was done more regularly than before. 1. A place was prepared for it (Ch1 15:1). 2. The priests were ordered to carry it (Ch1 15:2-15). 3. The Levites had their offices assigned them in attending on it (Ch1 15:16-24). II. How it was done more successfully than before (Ch1 15:25). 1. The Levites made no mistake in their work (Ch1 15:26). 2. David and the people met with no damp upon their joy (Ch1 15:27, Ch1 15:28). As for Michal's despising David, it was nothing (Ch1 15:29).