2 Samuel 6:20-22

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. Yet I will demean myself even more than this, and will be humbled (abased) in my own sight [and yours, as I please], but by the maids whom you mentioned, by them I shall be held in honor.”