2 Samuel 6:20-22

20When David returned home to bless his own household, Saul’s daughter Michal came out to meet him. “How the king of Israel has distinguished himself today!” she said. “He has uncovered himself today in the sight of the maidservants of his subjects, like a vulgar person would do.”

21But David said to Michal, “I was dancing before the LORD, who chose me over your father and all his house when He appointed me ruler over the LORD’s people Israel. I will celebrate before the LORD, 22and I will humiliate and humble myself even more than this. Yet I will be honored by the maidservants of whom you have spoken.”