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And they brought in the ark of the LORD, and set it in his place, in the midst of the tabernacle that David had pitched for it: and David offered burnt offerings and peace offerings before the LORD.

New Defender's Study Bible Notes

6:17 the tabernacle. This tabernacle was intended by David only for temporarily housing the ark. The wilderness tabernacle had been set up in Shiloh, then perhaps later in Nob (Joshua 18:1; I Samuel 21:1,6), but both these cities had been destroyed. At this time, it had been relocated in Gibeon (I Chronicles 16:39). It was David’s desire to build a permanent dwelling place for the ark in Jerusalem.

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