When you are doing something for God, the way you do it is more important than getting the job done. You do it His way because the instruction of the Lord is holy. When David first tried to bring the Ark of the Covenant to Jerusalem, it was not according to God’s instruction, and resulted in the death of Uzza for touching the Ark. When David put God first and followed His instructions and preparations and offered sacrifices, fear was replaced by joy, and the Ark was brought to Jerusalem.