1 Chronicles 15:3-4. David assembled all of Israel at Jerusalem to bring the ark of the covenant to the place he had prepared for it. He gathered together the sons of Aaron and the Levites along with thousands of others.

The assembly and procession to bring the ark to Jerusalem, as described in the paragraphs following these, is huge and joyful,. There are thousands of men with their commanders, there are music and dancing. All of Israel (just about), is happy and excited, and it all started with David deciding to bring the ark back to the city of God, Jerusalem.

Sometimes I doubt or over-analyze my decisions, especially in weighty matters, and I confuse myself. David is dealing with the ark of the covenant, probably the weightiest matter there is, but he is so certain of living in the Lord's will that he just decides and does, and all of Israel rejoices with him. When he later proposes to build a house for the ark, Nathan the prophet will tell him that the Lord does not want this. So when he is contemplating a wrong decision, David gets guidance from the Lord.

When we live in His will, we do not have to worry, He will show us the way. My confusion and indecisiveness is really the result of my lack of trust and surrender.