David found Joy in the Judgement of God. It’s the Judgement of God that strips us of our pride and sets us free to dance. Uzzah asserted himself, tried to save the Ark and died. David abased himself, was saved by the Ark and danced. Uzzah is the religious impulse. David is the life of Faith by Grace. In each of us, Uzzah needs to die…that David might dance.