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David is rejoicing because he is bringing the Ark of the Covenant back to Jerusalem. The Philistines had taken it, and had given it back because of what happened to them; then it stayed at Obed-Edom's house, and now it was coming home to where it belonged.
What is so famously wonderful about this story is how David danced with all his might as he rejoiced before God. He threw his dignity aside and gave his all to God. “I will become even more undignified than this,” he said, “and I will be humiliated in my own eyes.”
Sometimes I fear we have become so dignified that we fail to worship God at all. We want reverence and respect, and well we should, but let's not become so dignified that we fail to worship. Yes, David cost a man his life earlier in this story because he failed to treat the Ark with proper respect, but many of us sit like wooden Indians in church, then scream like Comanches at a ball game. Isn't it interesting that dignity goes out the door in a crises, or when our favorite team is on the field. But when is the last time you let the world see your love for God?
Perhaps we are so dignified because we are full of pride. David was the King of Israel; he had to conduct himself with dignity, but when it came to worshiping God, he humbled himself.
And yes, this story comes with a warning that it may cost us at home. This incident seems to have essentially ruined his relationship with his wife, Michal, but he didn't let anything dampen his devotion to God. Find ways to worship God with all your heart, and let the whole world see you do it.