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2 Samuel 6 Cont…. (Parallel 1 Chronicles 15-16) Parallel for 2 Samuel 6:13-19a is 1 Chronicles 15:26-29.

V. 13 those bearing the Ark… The presence of the LORD should be carried by people, not things and animals.

V. 14 David danced…with all his might… This particular dance is one of it’s kind in the whole Bible, not mentioned anywhere else. This is literally and “spinning around” dance.

V. 16, Saul’s daughter… She could not be mentioned as David’s wife in this incident, because she acted in the spirit of her father not in the humility and joy of her husband. 1 chronicles 15:29…she despised him…. She could not understand the spiritual joy that was bubbling in the heart of David. He was filled with joy, and she was filled with pride and hatred. 2 Samuel 6:20-23 uncovering himself means taking of his royal robs and wearing only the shortened, priestly ephod (1 Chronicles 15: 27). V. 20 Base fellows…. Means ‘commoner’
The Ark placed in the Tabernacle (1 Chro. 16:1-6):

2 Samuel 6:17-19… They have placed the Ark in its place, worshipped, and feasted.

David’s Hymn of Praise: 1 Chronicles 16: 7-36– This is not recorded in 2 Samuel. We see the whole song given to Asaph and his brethren to sing praises. We see the songs in Psalms as fragments as follow:

1 Chronicles 16: 8-22 (Psalms 105:1-15)

– Call to seek the lord and His strength. V. 11
– Call to remember God’s miracles Vs. 18-22

1 Chronicles 16: 23-33 (Psalms 96:1-13)

– Celebration in worship of God’s kingship over all the earth.

1 Chronicles 16: 34-36 (Psalms 106:47-48)

– Call to petition for deliverance and salvation from among the nations.

1 Chro. 16:37-44 Regular worship before the Ark of the Covenant.

It is apparent in verse 39 that there were two sanctuaries for worship, one at Jerusalem and the other at Gibeon. 2 Chro. 1:3-6 says that the one at Gibeon was the tabernacle of Moses.

2 Samuel 7:

God’s Covenant with David (Parallel is 1 Chronicles 17) Although the word ‘covenant’ does not appear in the account, the dialogue between Yahweh and David is nonetheless regarded as a covenant by other parts of Scripture (2 Samuel 23:5; Psalm 89:3, 34-36; 132:12; Jeremiah 33:21) and therefore 2 Samuel 7:1-16 needs to be regarded as a covenant.

David’s care for the ark. (1-3) David being at rest in his palace, considered how he might best employ his leisure and prosperity in the service of God. He formed a design to build a temple for the ark. Nathan here did not speak as a prophet, but as a godly man, encouraging David by his private judgment. We ought to do all we can to encourage and promote the good purposes and designs of others, and, as we have opportunity, to forward a good work. – Mathew Henry Concise Dictionary.

But when God stops and redirects us, we should be willing to stop and listen to HIM.

God’s covenant with David. (4-17): This chapter, with its messianic promise, is a key passage in the history of salvation. The Lord promises to make one family, that of David, the representative of his people forever. Verses 8-17 are often described as the “Davidic Covenant,” even though the term “covenant” does not appear there. But in Ps. 89:3 this promise is described using the words, “ I have made a covenant with my chosen one.” David expresses his desire to build a house for the Lord. But the Lord does not approve, and instead states on his own initiative that he will establish David’s house (i.e. dynasty) eternally, promising him an eternal throne: “And your house and your kingdom shall be made sure forever before me. Your throne shall be established forever” (2 Sam 7:16). This is not, however, a guarantee that every occupant of the throne of David will himself enjoy the blessings without regard for his own piety (V. 14). Ps 132:11 says that on this occasion the Lord swore to David with “a sure oath’” from which he would not turn back, that “one of the sons of your body I will set on your throne” (2 Sam 7:12). This points to Solomon…. And eventually to Jesus, the Messiah who would sit on the throne eternally, thus establishing David’s throne forever (7:16, Luke 1:31&32). –ESV Study Bible