David gathered Israel's chosen warriors and went to Baalah of Judah to bring the Ark of God up to Jerusalem. On the way, Uzzah reached out to steady the Ark and was struck down. David left the Ark for a time at the house of Obed-Edom, and the LORD blessed his whole household. When David heard of it, he joyfully brought the Ark into the City of David, dancing before the LORD with all his might.
True worship is both reverent — done God's way, like the proper carrying of the Ark, and not by Uzzah's careless touch — and joyful, like David dancing before the LORD with all his might. When we faithfully draw near to God on His terms, we taste His presence, His joy, and His blessing.
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