2 Samuel 6:16-23

Then, as the ark of the LORD came into the City of David, Michal, Saul’s daughter [David’s wife], looked down from the window above and saw King David leaping and dancing before the LORD; and she felt contempt for him in her heart [because she thought him undignified]. They brought in the ark of the LORD and set it in its place inside the tent which David had pitched for it; and David offered burnt offerings and peace offerings before the LORD. When David had finished offering the burnt offerings and peace offerings, he blessed the people in the name of the LORD of hosts (armies), and distributed to all the people, the entire multitude of Israel, both to men and women, to each a [ring-shaped] loaf of bread, a cake of dates, and a cake of raisins. Then all the people departed, each to his house. Then David returned to bless his household. But [his wife] Michal the daughter of Saul came out to meet David and said, “How glorious and distinguished was the king of Israel today, who uncovered himself and stripped [off his kingly robes] in the eyes of his servants’ maids like one of the riffraff who shamelessly uncovers himself!” So David said to Michal, “It was before the LORD [that I did this], who chose me above your father and all his house, to appoint me as ruler over Israel, the people of the LORD. Therefore I will celebrate [in pure enjoyment] before the LORD. Yet I will demean myself even more than this, and will be humbled (abased) in my own sight [and yours, as I please], but by the maids whom you mentioned, by them I shall be held in honor.” Michal the daughter of Saul had no child to the day of her death.