Summary: David attempts to bring the ark of the covenant to Jerusalem, but one of the men is killed because of touching it. When David arranges for it to be carried in proper honor, he dances exuberantly, which disgusts his first wife, Michal. Read from the World English Bible.
Below is a simple answer to the question: How long was the ark of the covenant at Abinadab’s house? Their summary makes it all quite clear.
“The Bible never says they moved the ark after 20 years, just that it had been there for 20 years by the time that Samuel spoke to Israel in verse 3 (I Samuel 7:3). It was there for over 40 years.”
Why I read from the World English Bible
I read from the 2016 edition, linked to below:
There is also a 2019 edition:
There is also a 2019 edition: