I Samuel 7:1-5

Then the men of Kirjath Jearim came and took the ark of the LORD, and brought it into the house of Abinadab on the hill, and consecrated Eleazar his son to keep the ark of the LORD. So it was that the ark remained in Kirjath Jearim a long time; it was there twenty years. And all the house of Israel lamented after the LORD. Then Samuel spoke to all the house of Israel, saying, “If you return to the LORD with all your hearts, then put away the foreign gods and the Ashtoreths from among you, and prepare your hearts for the LORD, and serve Him only; and He will deliver you from the hand of the Philistines.” So the children of Israel put away the Baals and the Ashtoreths, and served the LORD only. And Samuel said, “Gather all Israel to Mizpah, and I will pray to the LORD for you.”