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Just because it is ‘good to do’ does not mean it is yours to do
Having gained the upper hand over their arch enemies, the Philistines, David, that great king of the Jews, the same David who is famous for defeating of Goliath with a stone flung from a sling, decided it was time to build a house to honor the name of their God, Jehovah.
In the Old Testament, God, Father of our Lord Jesus Christ revealed Himself by the name Jehovah. Having exalted the name, Jesus above every other name, however (Philippians 2:9), now we best know Him as Father of our Lord Jesus Christ.
So then, David broached the matter to Nathan the Prophet, the same Nathan who, many years later would reprove David for adultery, and murder of Uriah, husband to Bathsheba. You see then, that at timing of events in question, as yet, David was without any deliberate, malicious, or intentional sin in sight of The Father.
Naturally, as reasonably could be expected of a man whose life was devoted to service of The Father, Nathan the Prophet was excited, responded to David as follows in 2 Samuel 7:2.
Go, do all that is in your heart; for the Lord is with you.