The sermon, based on 2 Samuel 6, emphasizes the importance of restoring what belongs to us spiritually, particularly the presence of God in our lives. It highlights King David's intentional decision to bring back the Ark of the Covenant, symbolizing God's presence, to its rightful place. Elder Bennett underscores the significance of doing things God's way, rather than adopting worldly methods, and calls for men to lead their families and communities in holiness and obedience. It also stresses the need for spiritual restoration and the power of God to bring life to seemingly dead situations.