2 Samuel 6:16, commentary and pictures

The verse describes the triumphant bringing of the ark from Kirjath-jearim toward Jerusalem, the city of David, in a scene of triumph Israel had not witnessed for a long time. The vast procession moved with solemn gladness through hills and valleys toward the holy city, with David and all the house of Israel celebrating before the Lord with exultant shouts and songs of rejoicing joined with harps and psalteries and timbrels and cornets and cymbals. The triumphal arrival in Jerusalem was marked by sacrifices, dancing, and music, after which the ark was set in the tent prepared for it.

Leading that celebration, David leaped and danced before the Lord. As the ark came into the city, Michal Saul's daughter looked through a window, saw David, and despised him in her heart, treating worship offered to honor God with scorn. Her contempt sprang from royal pride; she was shocked that he had set aside his kingly clothing for simple linen garments like those worn by priests, and thought he dishonored himself before Israel.

Her shock included that he had laid aside his scepter as well as his kingly clothing. God instead honored David, whose humble celebration showed humility and reverence for the ark in worship. David himself regarded his leaping and dancing as service rendered before the Lord, who had chosen him to rule Israel. The joy David felt foreshadows the joy of the saints when God turns their captivity and makes a covenant of peace with those who keep His commandments.