2 Samuel 6:12-17, 20-21

Now King David was told, “The LORD has blessed the house of Obed-edom and all that belongs to him, because of the ark of God.” So David went and brought up the ark of God from the house of Obed-edom into the City of David with rejoicing and gladness. And when those who were carrying the ark of the LORD [by its poles] had gone six paces, he sacrificed an ox and a fatling. And David was dancing before the LORD with great enthusiasm, and David was wearing a linen ephod [a priest’s upper garment]. So David and all the house of Israel were bringing the ark of the LORD up [to the City of David] with shouts [of joy] and with the sound of the trumpet. 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.

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.