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The material here is repeated from II Samuel 6.
Chapter 15 records the final arrangements for the Ark to be brought into Jerusalem, the work of the Priests and Levites and the joy of David despite his wife's disapproval and David's prayer of gratitude.
Preparations are here made for the bringing of the Ark of the Covenant into Jerusalem from the home of Obededom where it had been since that last time David attempted to bring it to Jerusalem unsuccessfully. The last time failed not because of lack of permission from The Lord but because of lack of research on the proper handling of the Ark. This time David the Levites to handle the Ark and to handle it properly by carrying it upon their shoulders. David summoned the Sons of Aaron, to them he issued the responsibility of bringing up the Ark into Jerusalem.
The Levites purified themselves and prepared to carry the ark according to the Law. Officers were appointed to properly welcome the Ark with ever-possible expression of joy; musical instruments were assembled along with psalmsters. Then David, the Elders of Israel and the Captains of the Guard went to get the Ark of the Covenant. Notice God helped the Levites transport the Ark, not because of its physical weight but because of its spiritual weight. When the Levites realized His help, they offered sacrifices to His name and with great expressions of rejoicing, they, along with David, sang and danced as the Ark was brought into Jerusalem.
When Michal, the daughter of Saul and David's wife, observed David dancing and singing she believed that he was acting in a way that was "unbecoming" to a King and she despised him in her heart.
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