2 Samuel 6:17-20

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 offerings and peace offerings, he blessed the people in the name of the LORD of hosts (armies), and distributed to all the people, the entire multitude of Israel, both to men and women, to each a [ring-shaped] loaf of bread, a cake of dates, and a cake of raisins. Then all the people departed, each to his house. 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!”