2 Samuel 6:20-23

20When David went home to pronounce a blessing on his own house, Michal, Saul’s daughter, came out to meet him. She said, “How the king of Israel has distinguished himself this day! He has exposed himself today before his servants’ slave girls the way a vulgar fool might do!”

21David replied to Michal, “It was before the Lord! I was celebrating before the Lord, who chose me over your father and his entire family and appointed me as leader over the Lord’s people Israel.

22I am willing to shame and humiliate myself even more than this! But with the slave girls whom you mentioned let me be distinguished!”

23Now Michal, Saul’s daughter, had no children to the day of her death.