It was neither with haste nor jealously that David decided to bring the Ark to Jerusalem. Note the comments of Ellicott in 2 Sam 6:12 -
(12) Went and brought up.—The immediate reason for David’s action was
the knowledge of the blessings which had come to Obed-edom through the
presence of the ark, in contrast to the punishment of Uzzah; yet this
implies neither jealousy nor a wish to deprive his subject of a
blessing. It had been his original purpose to carry the ark to
Jerusalem, and he had only desisted in a fit of vexation and then of
fear. He now saw that such fear was groundless, and went on to the
completion of his unfinished action. The word “with gladness” means
with festal shouts and rejoicings.
Thus, David saw that the anger of the LORD was only temporary and solely against Uzzah. He also wanted the blessings that were falling on the house of Obed-edom to fall on the nation as a whole and thus desired to place the Ark in a central location to achieve this.
Thus, David's motives were entirely honorable. Benson reaches an identical conclusion:
2 Samuel 6:12. That God had blessed the house of Obed-edom because of
the ark — They could not tell to what to impute the extraordinary
prosperity and happiness that attended him, but to his willing
reception and care of the ark. And it is certain it was, under God,
owing to this. David went and brought up the ark to the city of David
— Hoping God would bless him and his city, as he had done Obed-edom
and his house.
The Jamieson-Fausset-Brown Bible Commentary add further details -
- it was told king David, saying, The Lord hath blessed the house of Obed-edom, and all that pertaineth unto him, because of the ark of
God—The lapse of three months not only restored the agitated mind of
the monarch to a tranquil and settled tone, but led him to a discovery
of his former error. Having learned that the ark was kept in its
temporary resting-place not only without inconvenience or danger, but
with great advantage, he resolved forthwith to remove it to the
capital, with the observance of all due form and solemnity (1Ch
15:1-13). It was transported now on the shoulders of the priests, who
had been carefully prepared for the work, and the procession was
distinguished by extraordinary solemnities and demonstrations of joy.