2 Samuel 6:17-20

17And they brought in the ark of the LORD, and set it in its place, in the midst of the tent that David had pitched for it: and David offered burnt offerings and peace offerings before the LORD.

18And when David had made an end of offering the burnt offering and the peace offerings, he blessed the people in the name of the LORD of hosts.

19And he dealt among all the people, even among the whole multitude of Israel, both to men and women, to every one a cake of bread, and a portion of flesh, and a cake of raisins. So all the people departed every one to his house.

20Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said, How glorious was the king of Israel today, who uncovered himself today in the eyes of the handmaids of his servants, as one of the vain fellows shamelessly uncovereth himself!