Charles Ellicott Commentary 1 Chronicles 16:1

"And they brought in the ark of God, and set it in the midst of the tent that David had pitched for it: and they offered burnt-offerings and peace-offerings before God." — 1 Chronicles 16:1 (ASV)

So they brought the ark of God. — 1 Chronicles 16:1–3 are wrongly separated from the concluding verses of 1 Chronicles 15. The narrative is still parallel to 2 Samuel (2 Samuel 17-19a). The differences are unimportant.

God. — In Samuel, Jehovah.

And set it. — Samuel adds, in its place.

And they offered burnt sacrifices. — Samuel states, and David offered [a different word] burnt sacrifices before Jehovah. Our narrative takes care to make it clear that the priests and Levites ministered in the sacrifices.