“We heard of the Ark in Ephrathah.
We found it in the fields of Jaar.
‘Let us go to his dwelling place.
Let us worship at his footstool!’”
David had heard of the Ark of the Covenant while he was in Ephrathah, which was Bethlehem, the home of David. However, the Ark was in Jaar, Kiriath-jearim. The Philistines had captured the Ark of the Covenant in 1 Samuel, chapters 6-7. David wanted to go there and worship at the foot of the Ark of the Covenant.