“Seek the LORD and his strength; seek his presence continually! Remember the wondrous works that he has done …” (16:11-12). The ark was brought into Jerusalem with singing, dancing, and instrumental worship (ch 15), and King David charged the priests and Levites to continue offering this kind of praise before the Lord. Their work was to lead the people in remembering what God had done for Israel (v15), seeking His presence (v11), and declaring His goodness to the nations (v24).
“Oh give thanks to the LORD, for he is good; for his steadfast love endures forever!” (v34). Like all of creation (v33), we were created to worship God and to enjoy His steadfast love forever.