2 Samuel 6:18

15 So David and all the house of Israel brought up the LORD’s ark with shouting and with the sound of the trumpet.

16 As the LORD’s ark came into David’s city, Michal the daughter of Saul looked out through the window and saw King David leaping and dancing before the LORD; and she despised him in her heart.

17 They brought in the LORD’s ark, and set it in its place in the middle of the tent that David had pitched for it; and David offered burnt offerings and peace offerings before the LORD.

18 When David had finished offering the burnt offering and the peace offerings, he blessed the people in the name of the LORD of Armies.

19 He gave to all the people, even among the whole multitude of Israel, both to men and women, to everyone a portion of bread, dates, and raisins. So all the people departed, each to his own house.

20 Then David returned to bless his household. Michal the daughter of Saul came out to meet David, and said, “How glorious the king of Israel was today, who uncovered himself today in the eyes of his servants’ maids, as one of the vain fellows shamelessly uncovers himself!”

21 David said to Michal, “It was before the LORD, who chose me above your father, and above all his house, to appoint me prince over the people of the LORD, over Israel. Therefore I will celebrate before the LORD.