The movement of the ark takes place in three stages:
The procession to the city (1 Chronicles 15:25–28)
The entry into the city (1 Chronicles 15:29)
The placement within the city (1 Chronicles 16:1–3)
Various contrasts in emotional tone are evident in these episodes. The procession of the ark is accompanied by joy and sacrifice (1 Chronicles 15:25–28); the placement of the ark also ends the sequence with sacrifices and joy (1 Chronicles 16:1–3). Michal’s negative response to David’s joyful dancing, however, separates these celebrative moods (1 Chronicles 15:29).1
25 So David and the elders of Israel and the commanders of thousands went to bring up the ark of the covenant of the LORD from the house of Obed-edom with rejoicing.