“I Will Be Even More Undignified Than This,”2 Samuel 5-7,

So David went and brought up the ark of God from the house of Obed-Edom to the City of David with gladness. And so it was, when those bearing the ark of the Lord had gone six paces, that he sacrificed oxen and fatted sheep. Then David danced before the Lord with all his might; and David was wearing a linen ephod. So David and all the house of Israel brought up the ark of the Lord with shouting and with the sound of the trumpet. Now as the ark of the Lord came into the City of David, Michal, Saul’s daughter, looked through a window and saw King David leaping and whirling before the Lord; and she despised him in her heart. So they brought the ark of the Lord, and set it in its place in the midst of the tabernacle that David had erected for it. Then David offered burnt offerings and peace offerings before the Lord . And when David had finished offering burnt offerings and peace offerings, he blessed the people in the name of the Lord of hosts. Then he distributed among all the people, among the whole multitude of Israel, both the women and the men, to everyone a loaf of bread, a piece of meat, and a cake of raisins. So all the people departed, everyone to his house. 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 today, uncovering himself today in the eyes of the maids of his servants, as one of the base fellows shamelessly uncovers himself!” So David said to Michal, “ It was before the Lord, who chose me instead of your father and all his house, to appoint me ruler over the people of the Lord , over Israel. Therefore I will play music before the Lord . And I will be even more undignified than this, and will be humble in my own sight. But as for the maidservants of whom you have spoken, by them I will be held in honor.” Therefore Michal the daughter of Saul had no children to the day of her death.
2 Samuel 6:12-23 - hNKJV