'Handmaids' in the Bible

Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said, How glorious was the king of Israel to day, who uncovered himself to day in the eyes of the handmaids of his servants, as one of the vain fellows shamelessly uncovereth himself!

and I have been more vile than this, and have been low in mine eyes, and with the handmaids whom thou hast spoken of, with them I am honoured.'