It is likely that both the kingship of Saul and the kingship of the Lord is in view. In terms of Saul, the men who had previously doubted him (1 Samuel 10:27) were given another chance to pledge their allegiance.1 In terms of the Lord, the people as a whole were called to reaffirm their commitment to the Lord following their sinful request for a king like that of the nations.2
14 Then Samuel said to the people, “Come, let us go to Gilgal and there renew the kingdom.”