Chasidut para sa Levitico 16:2

And this is "Speak to Aharon your brother"(Lev. 16:2), meaning, that he is your brother, and wants to do good deeds, and would receive rebuke from you, and here you tell him "should not go at all times to the Holy, between the House and the Curtain", meaning, if he is a person like this, that has all types of times, for good and bad, that sometimes does good deeds and sometimes the opposite, that stumbles sometimes - God forbid - on sin, such a person "should not go at all times to the Holy" that is, should not enter oneself into the higher secrets; "that [are] between the House and the Curtain" meaning, since one made a separation between oneself and the holiness, that person should not enter into the higher secrets immediately, rather, at the beginning they should return in teshuvah and regret [their wrongdoings] deeply.

And this is "in front of the ark cover [kaporet]", the expression of atonement [kaparah], that teshuvah and regret atone sins. "On top of the Ark" meaning, before studying Torah one should regret and confess one's sins, and one's learning will be wanted by the Blessed Name, and "Ark" is a hint to Torah, since it is put in the ark, this is the essence. And the text says "because in a cloud" (Lev. 16:2), meaning, if one made a screen that separates, as it is written "You covered Yourself in a cloud, no prayer passes" (Lamentations 3:44), even in that case "I will show [Myself] on the ark cover", meaning, through teshuvah and regret the Holy Blessed Name will show [Godself] to that person and receive that person. "And not die", that the power of teshuvah is so great that extends days, and there is nothing that can stand in the way of teshuvah.