"David was angry because the Lord's wrath had broken out against Uzzah". Why did this make David angry? Was it because he felt sorry for Uzzah? Was it because the Lord seemed to be working against his plan to bring the ark to Jerusalem? Or was it because he knew deep down that he had gone about things in the wrong way and had not done them God's way (see previous post)?
The next verse says that David was not afraid of the Lord and thought that the ark (representing the presence of God) could now never be brought to Jerusalem. There are echoes here of Adam and Eve's reaction after sinning against God, they hid from Him in the garden. So David sidelined the issue, this had the side-effect of being very beneficial for Obed-Edom and his family.
David heard about this and so went up to get the ark. Why the change of mind? When the Philistines had taken the ark it had a habit of leading to tumours breaking out wherever it went. So maybe David thought that the ark was somehow cursed, or brought a curse with it. Now he sees that this is not the case. This time he brings the ark to Jerusalem following the Levitical laws (1 Chronicles 15 gives the details of this). David danced before the Lord, and sacrifices were offered. David also gave gifts to all the people. A sign that we are worshipping God aright is that we will be generous towards others.
Michal, the daughter of Saul whom David had asked to be brought back, saw David and despised him. Michal thought David had disgraced himself. She also probably thought that he had disgraced her by his "antics".
David declares that he will always worship the Lord. Michal remained childless, and the implication here is that this was a judgement of God upon her.
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