The material here is repeated from II Samuel 6.
Chapter 13 repeats for us the account of David's attempt to bring the Ark of the Covenant to Jerusalem and the death of Uzza for touching it.
This story of David's attempt to bring the Ark of the Covenant to Jerusalem is not in the account in Samuel. It would appear that as soon as David was well established on the throne of Israel that his thoughts turned to the Ark of the Covenant. He hoped to establish two things by doing this. One, do honor to God and two, to have the comfort and benefit of this sacred oracle.
Notice how he went about doing this. Even though he was the King and had the authority to do this, he chose rather to seek consultation. He consulted the Leaders of the people. He summoned the people to attend this consultation not only for their edification but also that they might feel a part of it. He also invited the Priests and Levites for this as it was in their domain.
At the consultation, David informed them of his intensions to bring the Ark into Jerusalem and the people agreed that it seemed right to do. Notice how this was accomplished. People traveled from the far reaches of Israel to attend this event. They rejoiced but even people with good intensions make mistakes. Who would have thought that David would have attempted to move the Ark without first finding how the Lord had instructed it to be moved. Perhaps he thought that if the Philistines had moved it back to Israel by cart and God had blessed that event, that God would also bless his attempt to move it by a cart. But we must act by "rule" not by "example".
The Ark had rested in the home of Abinadab since its return from the Philistines. David went there and had the Ark put on a cart and Uzza and Ahio drove the cart. When they came to the threshing floor of Chidon, The oxen stumbled and Uzza put out his hand to steady the Ark. For this, God became angry and Uzza was killed him instantly. David then became afraid and doubted the wisdom of his plan and had the Ark taken to the home of a man called Obededom, the Gittite, where it remained for some time and the Lord blessed the home of Obededom.
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