Musar zu Schemuel II 7:2

David was troubled by this condition of the שכינה, Divine Presence; he wanted G–d to have a permanent abode on earth in a fixed place. This is why he wanted to build a Temple, as opposed to the Tabernacle which by definition was a temporary structure, (cf. Samuel II 7,2) He could not abide the fact that whereas he, David, dwelled in a solid house, G–d should be content with a structure the ceiling of which consisted merely of hides and carpets. This is also the mystical dimension of Psalms 132,2: "When he swore to G–d, vowed to the Mighty One of Jacob: 'I will not enter my house, nor will I mount my bed, I will not give sleep to my eyes, nor slumber to my eyelids until I find a place for the Lord, an abode for the Mighty one of Jacob.'" In addition we read in Psalms 132,13: "For the Lord has chosen Zion, He has desired it for His seat. This is My resting-place for all time; here I will dwell, for I desire it."