1 Samuel 7:1-6

So the men of Kiriath-jearim came and took up the ark of the Lord and brought it into the house of Abinadab on the hill, and they consecrated Eleazar his son to care for the ark of the Lord. And from that day the ark remained in Kiriath-jearim for a very long time, for it was twenty years [until the reign of King David]; and all the house of Israel lamented (wailed) and grieved after the LORD. [2 Sam 6:3, 4; 1 Chr 13:5-7] Then Samuel said to all the house of Israel, “If you are returning to the LORD with all your heart, remove the foreign gods and the Ashtaroth (pagan goddesses) from among you and direct your hearts to the LORD and serve Him only; and He will rescue you from the hand of the Philistines.” So the Israelites removed the Baals and the Ashtaroth and served the LORD alone. Samuel said, “Gather all Israel together at Mizpah and I will pray to the LORD for you.” So they gathered at Mizpah, and drew water and poured it out before the LORD, and fasted on that day and said there, “We have sinned against the LORD.” And Samuel judged the Israelites at Mizpah.