And the Levites carried the ark of God on their shoulders with the poles, as Moses had commanded in accordance with the word of the LORD.
Preparation is here made for the bringing of the ark home to the city of David from the house of Obed-edom. It is here owned that in the former attempt, though it was a very good work and in it they sought God, yet they sought him, not after the due order, Ch1 15:13.
Commenting on 1 Chronicles 15:1-24
And the children of the Levites bare the ark of God upon their shoulders, with the staves thereon, as Moses commanded, according to the word of the Lord. Not only bare it on their shoulders, but with the staves in it, which rested on their shoulders, see Num 7:9, the reason of this command, that the ark should be carried on men's shoulders, and not...
Upon their shoulders - That is the staves which went through the rings rested on their shoulders, but the ark itself rested on the staves like a sedan on its poles. As Moses commanded - See Num 4:5, Num 4:15.