We will worship at His footstool

Lord, remember David, and all his afflictions: how he sware unto the Lord, and vowed unto the mighty God of Jacob; surely I will not come into the tabernacle of my house, nor go up into my bed; I will not give sleep to mine eyes, or slumber to mine eyelids, until I find out a place for the Lord, an habitation for the mighty God of Jacob.  Lo, we heard of it at Ephratah: we found it in the fields of the wood.  We will go into his tabernacles: we will worship at his footstool.  Arise, O Lord, into thy rest; thou, and the ark of thy strength. Let thy priests be clothed with righteousness; and let thy saints shout for joy.  For thy servant David's sake turn not away the face of thine anointed. The Lord hath sworn in truth unto David; he will not turn from it; of the fruit of thy body will I set upon thy throne. If thy children will keep my covenant and my testimony that I shall teach them, their children shall also sit upon thy throne for evermore.  For the Lord hath chosen Zion; he hath desired it for his habitation.  This is my rest for ever: here will I dwell; for I have desired it.  I will abundantly bless her provision: I will satisfy her poor with bread.  I will also clothe her priests with salvation: and her saints shall shout aloud for joy.  There will I make the horn of David to bud: I have ordained a lamp for mine anointed.  His enemies will I clothe with shame: but upon himself shall his crown flourish. 

 Psalm 132