15:25a So David, the elders of Israel, and the commanders of thousands

Therefore, David and the leaders of Israel and the commanders of groups of a thousand ⌊soldiers⌋
-or-
Then David ⌊gathered⌋ the leaders of Israel. ⌊He also gathered⌋ the ⌊army officers⌋ who commanded/led a group of ⌊one⌋ thousand ⌊soldiers each⌋ .

15:25b went with rejoicing to bring the ark of the covenant of the LORD from the house of Obed-edom.

went to get the box of the covenant of Yahweh from the house of Obed-edom with rejoicing.
-or-

⌊Together they⌋ went to the house of Obed-edom. ⌊They went there⌋ to bring the box of the agreement of Yahweh up ⌊to Jerusalem⌋ with joy.

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