1 Chronicles 16:37

So David left Asaph and his brothers there before the ark of the covenant of the LORD to minister regularly before the ark as each day required,

2 Chronicles 8:14

According to the ruling of David his father, he appointed the divisions of the priests for their service, and the Levites for their offices of praise and ministry before the priests as the duty of each day required, and the gatekeepers in their divisions at each gate, for so David the man of God had commanded.

Ezra 3:4

And they kept the Feast of Booths, as it is written, and offered the daily burnt offerings by number according to the rule, as each day required,

1 Chronicles 15:17-24

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

1 Chronicles 16:4-6

Then he appointed some of the Levites as ministers before the ark of the LORD, to invoke, to thank, and to praise the LORD, the God of Israel.

1 Chronicles 25:1-6

David and the chiefs of the service also set apart for the service the sons of Asaph, and of Heman, and of Jeduthun, who prophesied with lyres, with harps, and with cymbals. The list of those who did the work and of their duties was:

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
Then he appointed some of the Levites as ministers before the ark of the LORD, to invoke, to thank, and to praise the LORD, the God of Israel.
1 Chronicles 15:17
So the Levites appointed Heman the son of Joel; and of his brothers Asaph the son of Berechiah; and of the sons of Merari, their brothers, Ethan the son of Kushaiah;
1 Chronicles 25:1
David and the chiefs of the service also set apart for the service the sons of Asaph, and of Heman, and of Jeduthun, who prophesied with lyres, with harps, and with cymbals. The list of those who did the work and of their duties was:

As every

2 Chronicles 8:14
According to the ruling of David his father, he appointed the divisions of the priests for their service, and the Levites for their offices of praise and ministry before the priests as the duty of each day required, and the gatekeepers in their divisions at each gate, for so David the man of God had commanded.
Ezra 3:4
And they kept the Feast of Booths, as it is written, and offered the daily burnt offerings by number according to the rule, as each day required,

The Holy Bible, English Standard Version® copyright © 2001 by Crossway Bibles, a publishing ministry of Good News Publishers.