service. the hands: hands being put by Figure of speech Metonymy (of Cause), for the work done by them.
ark had rest. See 1 Chronicles 16:1, notes on 1 Chronicles 13:3, and Exodus 25:22.
Related Commentaries of 1 Chronicles 6:31
1 Chronicles 6:31
31 And these are they whom David set over the service of song in the house of the LORD, after that the ark had rest.