2 Samuel 6:1 - Joseph Benson’s Commentary on the Old and New Testaments

Again David gathered the chosen men of Israel Having defeated the Philistines, and enjoyed some peace, he thought it a seasonable time to fetch up the ark, and settle it in an honourable place; and for that purpose summoned the principal persons in Israel to attend. For he was sensible that purity and sincerity in the worship of God was the best, and, indeed, only sure stay of his own power and of his people's prosperity. And to settle the worship of God, in all its solemnity, was now his object.