We will go into his habitations. Here he dictates to all the Lord's people a common form of mutual exhortation to the duty of going up to the place which had been pointed out by the Angel. The clearer the intimation God may have given of his will, the more alacrity should we show in obeying it. Accordingly, the Psalmist intimates that now when the people had ascertained beyond all doubt the place of God's choice, they should admit of no procrastination, and show all the more alacrity as God was calling them more closely, and with a more privileged familiarity, to himself, now that he had selected a certain place of rest amongst them. He thus passes a virtual condemnation upon the lukewarmness of those whose zeal does not increase in proportion to the measure of revelation which they enjoy. Habitations are spoken of in the plural number, and this it may be (though we may doubt whether the Psalmist had such minute distinctions in his eye) because there was in the temple an inner sanctuary, a middle apartment, and then the court. It is of more importance to attend to the epithet which follows, where the Psalmist calls the Ark of the Covenant God's footstool, to intimate that the sanctuary could never contain the immensity of God's essence, as men were apt absurdly to imagine. The mere outward temple with all its majesty being no more than his footstool, his people were called upon to look upwards to the heavens and fix their contemplations with due reverence upon God himself. We know that they were prohibited from forming any low and carnal view of him. Elsewhere, it is true, we find it called "God's face," (Psalm 28:8,) to confirm the faith of the people in looking to this divine symbol which was set before them. Both ideas are brought out very distinctly in the passage before us, that, on the one hand, it is mere superstition to suppose God confined to the temple, and that, on the other hand, the external symbols are not without their use in the Church that, in short, we should improve these as helps to our faith, but not rest in them. While God dwells in heaven, and is above all heavens, we must avail ourselves of helps in rising to the knowledge of him; and in giving us symbols of his presence, he sets, as it were, his feet upon the earth, and suffers us to touch them. It is thus that the Holy Spirit condescends for our profit, and in accommodation to our infirmity, raising our thoughts to heavenly and divine things by these worldly elements. In reference to this passage, we are called to notice the amazing ignorance of the Second Council of Nice, in which these worthy weak Fathers of ours wrested it into a proof of idolatry, as if David or Solomon commanded the people to erect statues to God and worship them. Now, that the Mosiac ceremonies are abolished we worship at the footstool of God, when we yield a reverential submission to his word, and rise from the sacraments to a true spiritual service of him. Knowing that God has not descended from heaven directly or in his absolute character, but that his feet, are withdrawn from us, being placed on a footstool, we should be careful to rise to him by the intermediate steps. Christ is he not only on whom the feet of God rest, but in whom the whole fullness of God's essence and glory resides, and in him, therefore, we should seek the Father. With this view he descended, that we might rise heavenward.

We will go into his tabernacles - His tents, or the fixed resting place prepared for the ark. This is evidently language supposed to have been used on bringing up the ark into its place in Jerusalem: language such as they may be supposed to have sung or recited on that occasion.
We will worship at his footstool - See the notes at Psalm 99:5. The meaning is, the footstool of God: let us bow humbly at his feet. The language denotes profound adoration. It expresses the feelings of those who bare the ark to its assigned place.

We will go into his tabernacles,.... The tabernacles of him that was heard of at Ephratah; born in Bethlehem, and found in the ministry of the word among the Gentiles: enter into his churches, raised and formed there, which are the tabernacles or dwelling places of Christ; where he has his residence, takes his walks, and dwells; and which are very lovely, amiable, and pleasant, and so desirable by believers to go into; because of the presence of God in them, the provisions there made for them, the company there enjoyed; the work there done, prayer, praise, preaching, and hearing the word, and administration of all ordinances. Some render it as a mutual exhortation, "let us go into his tabernacles" (w); see Isaiah 2:2;
we will worship at his footstool; any place of worship on earth may be called the footstool of God, with respect to heaven his throne, Isaiah 66:1; particularly the ark is so called, 1-Chronicles 28:2; in which the law was; over which was the mercy seat, and over that the cherubim of glory, and between them the Majesty of God dwelt; so that the ark was properly his footstool: and all this being typical of Christ may direct us to observe, that all religious, spiritual, and evangelic worship, is to be performed in his name, and in the faith of him, and by the assistance of his grace and Spirit; see Psalm 99:5.
(w) So Tigurine version, Vatablus, Musculus, Gejerus, Cocceius, Michaelis.

The purpose of engaging in God's worship is avowed.

Tabernacles - Into his temple. Footstool - The ark, is often said to sit between the cherubim, which were above the ark.