2 Samuel 6:16-23 - David And Michal
16 As the ark of the LORD was coming into the City of David, Saul's daughter Michal was peering out a window, watching King David jumping and dancing in the LORD's presence, and she despised him in her heart.
17 They brought in the ark of the LORD, set it in place inside the tent that David had erected for it, and David sacrificed burnt offerings and peace offerings in the presence of the LORD. 18 After David had finished sacrificing the burnt offerings and peace offerings, he blessed the people in the name of the LORD of the Heavenly Armies 19 and distributed to all the people the entire multitude of Israel, including both men and women a cake made of bread, one made of dates, and one made of raisins to each one. Then all the people left, each headed for home.
20 When David returned to bless his household, Saul's daughter Michal came out to meet him and called out, "How the king of Israel honored himself today by undressing himself right in front of his women staff members, just like any pervert would dare to expose himself!"
21 But David replied to Michal, "It was in front of the LORD, who appointed me to replace your father and his entire household by selecting me as Commander-in-Chief over Israel, the people of the LORD, that I danced in front of the LORD. 22 I'm going to act more shamelessly than this, even to humbling myself in my own eyes. Now as to the women staff members about whom you have spoken, they are to hold me in honor!" 23 And Saul's daughter Michal bore no children from that day on until the day she died.