Last time I was caught up in the background I remembered from this passage and didn't get very far into the chapter itself.
David decides it's time to bring the Ark to his new capital. He gets his 30,000 chosen men together and whoever else is in the entourage and heads out for Baale-Judah, also known as Kirjath-jearim.
They put the Ark on a new cart and other men were tending to it while David was celebrating.
When the Ark almost fell, Uzzah reached out to steady it and touched it, angering God. God slay him for being so casual with the Glory of God.
This angered and caused David to fear the Lord. He put the whole process on hold and stored the Ark at Obedeome's house and the Obedeome's house was blessed. It seems like David wasn't willing to deal with the Ark again until he saw the blessing. Not a great look for David, but maybe I'm reading too much into it.
And then they moved it the correct way, sacrificing as they went. And David was so happy he was dancing and celebrating wearing only an ephod, not his royal robes...so his first wife, Saul's daughter, despised him.
He offered sacrifices, which he was allowed to do as king. He hands out food treats to all in attendance and finally returns home to his bitter first wife, Michal. She tries to chasten him for unkingly behavior, but David was having none of it. He knew his Lord and he knew his role as early King- this offspring of the corrupt King Saul wasn't going to put David down. And God didn't care for her answer either, as He left her childless her whole life.