26 And David built there an altar to Jehovah, and offered up burnt-offerings and peace-offerings, and called upon Jehovah; and he answered him from the heavens by fire upon the altar of burnt-offering. 27 And Jehovah spoke to the angel; and he put up his sword again into its sheath.
28 At that time when David saw that Jehovah had answered him in the threshing-floor of Ornan the Jebusite, then he sacrificed there. 29 And the tabernacle of Jehovah, which Moses had made in the wilderness, and the altar of burnt-offering, were at that time in the high place at Gibeon. 30 But David could not go before it to inquire of God; for he was afraid because of the sword of the angel of Jehovah.
Matthew Henry's Commentary on 1 Chronicles 21:26-30
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David's numbering the people.
No mention is made in this book of David's sin in the matter of Uriah, neither of the troubles that followed it: they had no needful connexion with the subjects here noted. But David's sin, in numbering the people, is related: in the atonement made for that sin, there was notice of the place on which the temple should be built. The command to David to build an altar, was a blessed token of reconciliation. God testified his acceptance of David's offerings on this altar. Thus Christ was made sin, and a curse for us; it pleased the Lord to bruise him, that through him, God might be to us, not a consuming Fire, but a reconciled God. It is good to continue attendance on those ordinances in which we have experienced the tokens of God's presence, and have found that he is with us of a truth. Here God graciously met me, therefore I will still expect to meet him.