David told Nathan he lived in a house of cedar while the ark of God stayed where?

Answer: In a tent

Settled in his palace, David wanted to build a house for the ark, which remained in a tent (KJV: "within curtains").

“After the king had settled into his palace and the LORD had given him rest from all his enemies around him, he said to Nathan the prophet, “Here I am, living in a house of cedar, while the ark of God remains in a tent.””— 2 Samuel 7:1-2 (BSB)