16:4a David appointed some of the Levites to minister before the ark of the LORD,

David appointed some of the ⌊descendants⌋ of Levi to stand in front of the ark of Yahweh.
-or-
He chose some of the people of ⌊the tribe of⌋ Levi. ⌊He chose them⌋ to serve before the box ⌊of the agreement⌋ of Yahweh.

16:4b to celebrate, to give thanks, and to praise the LORD, the God of Israel.

⌊They were⌋ to petition, ⌊give⌋ thanks and praise Yahweh, the God of Israel.
-or-

⌊David chose them to lead the people⌋ in worship and ⌊in giving⌋ thanks to Yahweh. ⌊They were to lead in⌋ praising Yahweh, the God that ⌊the people⌋ of Israel ⌊prayed to⌋ .

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