2 Samuel 6:20
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!
This moment came after David's first attempt to move the ark of God from the house of Abinadab at Kirjath-jearim toward Jerusalem with thirty thousand leading men of Israel, together with the priests, princes and tribal leaders. The ark was placed on a new cart drawn by oxen, while Israel followed with exultant shouts and songs of rejoicing and playing before the Lord on harps and psalteries and timbrels and cornets and cymbals with solemn gladness. When the procession reached Nachon's threshingfloor, Uzzah took hold of the ark because the oxen shook it, and the anger of the Lord was kindled so that God struck him dead there for his rashness by the ark of God. Sudden terror fell on the rejoicing throng, and David was left astonished and alarmed, so he left the ark nearby at the house of Obed-edom the Gittite.
After the ark was later brought to Jerusalem, David returned to bless his household, and Michal the daughter of Saul went out to meet him. She answered his kindly greeting with bitter, keen and cutting irony. Her charge was that he had gloriously uncovered himself that day before the eyes of the handmaids of his servants, as one of the worthless, base fellows shamelessly uncovers himself. Those words came from a heart that had watched his leaping and dancing before the Lord and despised him in it. In despising David, her scorn despised and dishonored the service of God itself.
David answered that he had played before the Lord, who had chosen him above her father and all his house to appoint him ruler over Israel. He declared that he would become even more lowly and vile and base in his own sight, while still being held in honor by those same maidservants. Because of her pride and arrogance the Lord added His own rebuke to David's by leaving her with no child to the day of her death.