Then the angel of Yahweh commanded Gad to tell David, that David should go up, and raise an altar to Yahweh in the threshing floor of Ornan the Jebusite.
"Perhaps the one thing that impresses more than David’s sins in his life are his repentances (cf. 2 Samuel 12:13 ff., and, associated in its heading with the same incident, Psalms 51). We do well to let his willingness to come fully to terms with his deficiencies inform our own responses to our moral failures before God." [Note: McConville, p. 71.] 