During his reign, King David looked at his palace and compared it with the tabernacle of the Lord. He considered that God should dwell in a structure more magnificent than his own. Of course, the tabernacle was merely a tent for meeting with God, in which the Ark resided containing the covenant God had made with his people. God could never be contained within a tent, building or even the whole universe. It was left to his son, Solomon to build a permanent structure in which God could be met.
After the building of the Temple in Jerusalem, when the people approached, they pleaded not in their name but in the name of David, the anointed one of God. They knew they weren’t worthy themselves to approach God, to plead the covenant God had made with David.
For though God had declined David’s desire to build him a house, God promised to build a house for David. A house which would never fall, but would last for ever. For it is through the line of David, that the King of kings and Lord of lords would be, Jesus Christ.
For through Jesus Christ, God would truly dwell amongst men, in the hearts of all who believed in the Christ. Through Jesus Christ, men would be able to plead before God, not claiming any righteousness of their own for they have none, but pleading solely in the righteousness of Jesus Christ.