2 Samuel 6:16-20

Then it happened, as the ark of the Lord was coming into the city of David, that Michal the daughter of Saul looked down through the window and saw King David leaping and dancing before the Lord; and she was contemptuous of him in her heart.

Now 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 offering and the peace offerings, he blessed the people in the name of the Lord of armies.

Further, he distributed to all the people, to all the multitude of Israel, both to men and women, a cake of bread, one of dates, and one of raisins to each one. Then all the people left, each to his house.

But when David returned to bless his own household, Michal the daughter of Saul came out to meet David and said, “How the king of Israel dignified himself today! For he exposed himself today in the sight of his servants’ female slaves, as one of the rabble shamelessly exposes himself!”