2 Samuel Ch.6 - David Brings the Ark to Jerusalem

David has captured Jerusalem. But how does he bring God to the city? By making a home for the Aron - the Ark of God - in Jerusalem. But a terrible accident happens as the procession makes its way - the Ark slips and Uzzah tries to save it but is killed. What is David going to do to repair the situation? And how does this relate to the argument between David and his wife, Michal bat Shaul?