What does 1 Samuel 7:2 mean?
The ark of the Lord was back in Israel, but God's people were still unfaithful. They continued to worship and serve the idols of surrounding nations (1 Samuel 7:3). While they did so, the ark of the Lord remained silent and out of the way in the house of Abinadab in the city of Kiriath-jearim for twenty years.During that time, the Philistines continued to oppress the Israelites and to rule over them. Eventually, the Israelites began to call out for the Lord, mourning their state and seeking God's salvation (1 Samuel 7:3–8).
This follows the pattern of the book of Judges: the people would be rescued by the Lord and serve Him for a time before going back to worshiping foreign gods. Then the Lord would cause them to be conquered by another nation and for His people to suffer until they finally repented of their sin and called out to Him for help once more. Then the Lord would raise up a judge to rescue them and lead them to freedom from their enemies. The final judge of that period was Samuel.