After the disaster with Uzzah (touching the Ark), David realised they tried to move God's presence on a cart (Philistine way) instead of shoulders (God's way). He corrected it.

They wanted to move the Ark. Good goal. Bad method (cart). Result: Death. Torah connection: Numbers 4:15 (Bear ark on shoulders). The Pharisaic distortion: Making the word of God of none effect through tradition.

For because you didn’t carry it at first, Yahweh our God broke out in anger against us, because we didn’t seek him according to the ordinance.”

1 Chronicles 15:13

Your Spirit

Loves God

Loves Neighbor

Your Body

Moral Behaviour