Psalms 68:17
The chariots of God are twenty thousand, even thousands of angels: the Lord is among them, as in Sinai, in the holy place. The chariots of God are twenty thousand, even thousands of angels: the Lord is among them, as in Sinai, in the holy place.
The twenty thousand chariots are thousands of angels surrounding God, with the Lord among them. Those angels include cherubim and seraphim. The being among them as in Sinai, in the holy place, pictures God encompassed by that vast host. The verse applies to Christ's ascension, showing the heavenly escort accompanying Him in glory to heaven.
That glory was hidden from the disciples' sight. He went up as a conquering King and Commander of the heavenly host, returning to His own dominion and home. He was received and escorted with great honor, welcomed with shouts and praise amid joyful demonstrations and triumphant song by the rejoicing throng. This honored ascension stands in contrast to the poverty He had taken for sinful humanity.
With Him He brought a multitude of captives raised from their graves to join the armies of heaven. Before the heavenly universe He was then enthroned as a gracious High Priest and mighty Redeemer to all who call upon Him in truth.