2 Samuel 6:20-21

Amplified Bible

²⁰ Then David returned to bless his household. But [his wife] Michal the daughter of Saul came out to meet David and said, “How glorious and distinguished was the king of Israel today, ^[a]who uncovered himself and stripped [off his kingly robes] in the eyes of his servants’ maids like one of the riffraff who shamelessly uncovers himself!” ²¹ So David said to Michal, “It was before the Lord [that I did this], who chose me above your father and all his house, to appoint me as ruler over Israel, the people of the Lord. Therefore I will celebrate [in pure enjoyment] before the Lord.