Leithart sees Jesus’ Triumphal Entry as a typological fulfillment of the coming of the ark into Jerusalem in II Samuel 6 and I Kings 8. He observes:
Jesus is in the center of a procession, as the ark was in Israel’s wanderings, preceded and followed by cheering crowds (Matthew 21:9). Jesus sits, strangely, on the back of two beasts of burden, which form a throne like the ark, cherubim flanking the Lord’s seat. He enters the temple, as the ark did at Solomon’s dedication.
Jesus’ entry into Jerusalem is the return of Yahweh, enthroned on the ark.
Resurrectio et Vita 