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sorrow

a deep feeling of sadness caused by suffering, disappointment or misfortune

David sent and took her home

Here the word "sent" means that he sent a messenger to get her and bring her to him. AT: "David sent a messenger to her to bring her home" (See: rc://en/ta/man/translate/figs-idiom and rc://en/ta/man/translate/figs-metonymy)

displeased Yahweh

"saddened Yahweh" or "angered Yahweh"