2 Samuel 6:13

And it was [so], that when they that bare the ark of the Lord,.... The Levites; for now David had seen the former mistake, and rectified it, and ordered the Levites to "carry" it, as they did upon their shoulders, with the staves therein, see 1Ch 15:2; when thesehad gone six paces, he sacrificed oxen and fatlings; upon an altar, which was at once erected for that purpose; the number and kind of sacrifices offered were seven bullocks and seven rams, 1Ch 15:26; and these David offered, not by himself, but by the priests that were with him, and that as soon as they had gone six paces from the house of Obededom; whereby they perceived the Levites, were able to carry the ark, with what was in it, the Lord helping them, as in 1Ch 15:2, and without stumbling and falling, or any evil attending them; and Kimchi thinks these six paces were just the measure of the ground Uzzah went before what befell him; but it is highly probable that he had gone further; however, no doubt by the order of David, the Levites set down the ark, and sacrifices were offered by way of thanksgiving to God, and for the continuance of his goodness, and for atonement for former errors.