1 Chronicles 16:37

So David left Asaph and his relatives there before the ark of the covenant of the Lord to minister before the ark continually, as each day’s work required;

2 Chronicles 8:14

Now in accordance with the ordinance of his father David, he appointed the divisions of the priests for their service, and the Levites for their duties of praise and ministering and serving before the priests as every day required, and the gatekeepers by their divisions at every gate; for David the man of God had so commanded.

Ezra 3:4

They celebrated the Feast of Booths, as it is written, and offered the fixed number of daily burnt offerings, in accordance with the ordinances, as each day required;

1 Chronicles 15:17-24

So the Levites appointed Heman the son of Joel, and from his relatives, Asaph the son of Berechiah; and from the sons of Merari their relatives, Ethan the son of Kushaiah,

1 Chronicles 16:4-6

He appointed some of the Levites to minister before the ark of the Lord and to profess [God’s name] and to thank and praise the Lord, the God of Israel:

1 Chronicles 25:1-6

Moreover, David and the commanders of the army selected for the [temple] service some of the sons of Asaph, Heman, and Jeduthun, who were to prophesy with lyres, harps, and cymbals. The list of the musicians who performed their service was as follows:

Treasury of Scripture Knowledge

Summary

So he left there before the ark of the covenant of the LORD Asaph and his brethren, to minister before the ark continually, as every day's work required:

Bible References

Before the ark

1 Chronicles 16:4
He appointed some of the Levites to minister before the ark of the Lord and to profess [God’s name] and to thank and praise the Lord, the God of Israel:
1 Chronicles 15:17
So the Levites appointed Heman the son of Joel, and from his relatives, Asaph the son of Berechiah; and from the sons of Merari their relatives, Ethan the son of Kushaiah,
1 Chronicles 25:1
Moreover, David and the commanders of the army selected for the [temple] service some of the sons of Asaph, Heman, and Jeduthun, who were to prophesy with lyres, harps, and cymbals. The list of the musicians who performed their service was as follows:

As every

2 Chronicles 8:14
Now in accordance with the ordinance of his father David, he appointed the divisions of the priests for their service, and the Levites for their duties of praise and ministering and serving before the priests as every day required, and the gatekeepers by their divisions at every gate; for David the man of God had so commanded.
Ezra 3:4
They celebrated the Feast of Booths, as it is written, and offered the fixed number of daily burnt offerings, in accordance with the ordinances, as each day required;