John Gill Commentary 2 Samuel 6:2

"And David arose, and went with all the people that were with him, from Baale-judah, to bring up from thence the ark of God, which is called by the Name, even the name of Jehovah of hosts that sitteth [above] the cherubim." — 2 Samuel 6:2 (ASV)

And David arose, and went with all the people that [were] with
him
The thirty thousand chosen men gathered together, and as many else as chose to go:

from Baale of Judah, to bring up from thence the ark of God ;
that is, they first went to this place, as in (1 Chronicles 13:6) ; in order to fetch the ark from thence, as here expressed, and then they came from thence with it; this place is the same that is called Baalah and Kirjathbaal, a city in the tribe of Judah; hence Judah is added to it, and the same with Kirjathjearim, (Joshua 15:9Joshua 15:60) ; the place where it was brought to when fetched from Bethshemesh, (1 Samuel 7:1) ; and had been here now near fifty years; nor was it any where else during this time, only once at Gibeah of Saul with him, (1 Samuel 14:18) ;

whose name he called by the name of the Lord of hosts, that dwelleth
[between] the cherubim ;
not the ark, but the Lord, whose is the ark; his name is called by the name of Jehovah, the infinite, incomprehensible, eternal, and immutable Being, the Lord of armies above and below; whose habitation was between the cherubim that overshadowed the mercy seat, which was above the ark; all this is said, not only to express the greatness and majesty of God, but for the honour of the ark, which belonged to him.