And she named the child Ichabod, saying, The glory is departed from Israel: because the ark of God was taken, and because of her father in law and her husband. And she said, The glory is departed from Israel: for the ark of God is taken. (1 SA 4:21)
The Ark of the Covenant was gone for 20 years.
David tried to bring it back to Jerusalem which was a journey of nine to eleven miles. He was unaware of how to handle it and Uzzah died because he touched the Ark. David was very upset. He returned home and studied how to transport the Ark. He realized he must be obedient to God’s direction as well as worship.
The priests were then instructed to carry the Ark with poles upon their shoulders and David worshiped and sacrificed: “And so it was so, that when they that bare the ark of the LORD had gone six paces, he sacrificed oxen and a fatlings.” (II Samuel 6:13) This was a journey of nine to eleven miles so, you figure the math, steps, and how many sacrifices were made.
David wanted to bring the Ark back because he wanted to bring God’s presence back to Jerusalem.
I would say God’s praise was continually on his lips. Why? To get the presence of God back.
“By him, therefore, let us offer the sacrifice of praise to God continually, that is, the fruit of our lips giving thanks to his name.” (Hebrews 13:15)
“I will bless the LORD at all times: his praise shall continually be in my mouth.” (Psalms 34:1)
If we want God’s presence, it will come by obedience and the sacrifice of our praise. Isn’t it time we get the ark back?