2 Samuel 6:18

15 So David and all the men of Israel took up the ark of the Lord with cries of joy and sounding of horns.

16 And when the ark of the Lord came into the town of David, Michal, Saul's daughter, looking out of the window, saw King David dancing and jumping before the Lord; and to her mind he seemed foolish.

17 And they took in the ark of the Lord, and put it in its place inside the tent which David had put up for it: and David made burned offerings and peace-offerings to the Lord.

18 And after David had made the burned offerings and the peace-offerings, he gave the people a blessing in the name of the Lord of armies.

19 And he gave to every man and woman among all the people, among all the masses of Israel, a cake of bread and a measure of wine and a cake of dry grapes. Then all the people went away, every man to his house.

20 Then David came back to give a blessing to his family. And Michal, Saul's daughter, came out to him and said, How full of glory was the king of Israel today, who let himself be seen uncovered by his servant-girls like a foolish person uncovering himself without shame!

21 And David said to Michal, I was dancing before the Lord, who put me over your father and all his sons, to make me a ruler over the people of the Lord, over his people Israel: and I will go on playing before the Lord;