In Parshat תרומה we are acquainted of the positive commandment to build the Beit Hamikdash. It is learned from the words, ועשו לי מקדש, to make a sanctuary for Hashem.
It was King David who was bothered that there was no permanent dwelling place for Hashem in this world. It is alluded to in Tehillim 132:8 with the words, קומה ה׳ למנוחתך, "rise up to your resting place."
David understood that there was a מקדש של מעלה, a Heavenly Temple. He felt there should be such a place on earth as well. He invested a great deal of time drawing up detailed plans as to how to build the Temple and to gather the materials necessary for its construction.
When David was told that he could not build it because of the "blood on his hands," he showed what a good father he was. The Kli Yakar says that David was thoroughly content with the idea that his son, Shlomo would surpass him.
How sad it is that there are parents who are unable to be happy at seeing their children's success and happiness. There is a great deal to be learned from King David!