# laid a foundation

"foundation" in this sense was more than just the stone blocks to support the temple walls. It included the entire temple floor set in stone. This enabled all the temple worshipers to wear their special garments and keep them clean.

# their garments

"their special robes"

# cymbals

two thin, round metal plates that are hit together to make a loud sound

# the hand of David ... had commanded

"as David ... had commanded"