We should offer ‘UNRESTRAINED WORSHIP’ to God: "So David went and brought up the ark of God from the house of Obed-Edom to the City of David with gladness. And so it was, when those bearing the ark of the Lord had gone six paces, that he sacrificed oxen and fatted sheep. Then David danced before the Lord with all his might; and David was wearing a linen ephod. So David and all the house of Israel brought up the ark of the Lord with shouting and with the sound of the trumpet." (2 Sam 6:12-15)
The journey of the ark to Jerusalem was delayed for about three months due to the tragedy at Nachon’s threshing floor (2 Sam. 6:6, 11). Due to that unfortunate incident, the ark was placed in the house of Obed-Edom, a Levite of the family of Korah (1 Chr. 13:13, 14) who later became one of the doorkeepers for the ark (1 Chr. 15:18, 24; 26:4–8). God blessed Obed-Edom and his household because of the ark in his home (2 Sam. 6:11b). In the similar manner, God will bless us when we invite Him into our hearts and give Him the prominent place in our lives through our daily activities!
Hearing of the blessing that Obed-Edom had received from God, King David decided to bring the ark of God to the tabernacle that he had erected in Jerusalem (v. 17). During the past three months David must have investigated the Mosaic laws to see how the ark was to be transported from one place to another (1 Chr. 15:1, 2). So, the new cart was abandoned and now the Levites carried the ark on their shoulders. After the bearers moved forward cautiously for six paces, just to make sure the Lord wasn’t still displeased, David sacrificed oxen and sheep. In the similar manner, we are required to "continually offer the sacrifice of praise to God, that is, the fruit of our lips, giving thanks to His name" (Heb 13:15).
King David was so overjoyed that he danced on the street before the Lord with all his might wearing a linen ephod instead of his customary royal clothes. The linen ephod was a short, sleeveless garment worn by priests (see 1 Sam. 2:18), and David wore it to honor the Lord in view of his priestly activities that day (v. 13). David’s leaping and whirling before the Lord (v. 14, 16) was a manifestation of the spiritual joy that emanated from the depth of his heart (1 Chr. 15:25–28). It was an outward expression of joy and happiness of King David’s worship of the Lord who had brought him from tending sheep in the wilderness to sit on the throne of Israel. David was not concerned with his image at all during his act of worship!
King David is our prime example for expressing our worship and praise publicly without any shame or reservations. David, who was a “man after God’s own heart” (1 Sam. 13:14b), could dance with unrestrained fervor in God’s presence. When our hearts are in tune with God’s heart, then we will be free both to glorify God and to enjoy God’s presence through our worship. When we love God with all our heart, we can openly express our emotions to Him. God wants us to be real, and not put on a mask (like hypocrites) in His presence. When we have tasted and seen the goodness of God (Psalms 34:8), how can we not express our delight openly in adoration, praise and worship?