God is sovereign. And we see here what David done in the Scripture reading of I Chronicles 13. And his intentions were good. But God does not give us merits on good intentions. There's only one way to serve God; that's by doing His will at His command. And God, being sovereign, there's no one to tell Him what to do or how to do it; He knows the right way to do it. And that makes me feel good. And it ought to make all of us feel good, and I'm sure it does. For one would have it coming this way, and one have it going that way, and one the other way...
But one great thing again about God, He's not left us, now, without knowing what's the Truth and how to do it. He wouldn't be just to punish us for doing something that we didn't know how it was going to be done, and then let us stumble into something. He's not that kind of a God. He's a God that speaks a Word and expects His children to believe It. And therefore, He knows what's best, and when to do it, and how to do it. We have our ideas of it, but He knows.
And then, if He set up a system that what He was going to do and didn't tell us what was going to happen and how it was going to happen, then we stumbling at it would be justified in our stumbling, or trying to do something; each one would be justified. But there's only one way and that is His Word.

William Branham, sermon «Trying To Do God A Service Without Being The Will Of God»
https://en.branham.ru/sermons/65-0718M