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Dancing is a form of praise and worship before the Lord and a means of expressing our joy and love in Him, for Him and for all He has done for us. As a member of a Praise and Worship Dance Team for years, I can say that many times the Holy Spirit fell upon the congregation as the Lord joined us in the dance. I believe David was overjoyed and flowing with Love for God as He allowed the Ark to enter the kingdom and in his exuberance, he danced before the Lord and the Ark. Oftentimes as we praise God, it is impossible to stand in place or walk in a regulated military or parade format. As we express ourselves and love God freely and with all abandon, we bless Him and He blesses us as He joins us in the dance of praise.
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