2 Samuel 6:12-21 New American Standard Bible (NASB)
The Ark Is Brought to Jerusalem
12 Now it was told King David, saying, “The Lord has blessed the house of Obed-edom and all that belongs to him, on account of the ark of God.” David went and brought up the ark of God from the house of Obed-edom into the city of David with gladness. 13 And so it was, that when the bearers of the ark of the Lord had gone six paces, he sacrificed an ox and a fatling. 14 And David was dancing before the Lordwith all his might, and David was [a]wearing a linen ephod. 15 So David and all the house of Israel were bringing up the ark of the Lord with shouting and the sound of the trumpet.
16 Then it happened as the ark of the Lord came into the city of David that Michal the daughter of Saul looked out of the window and saw King David leaping and dancing before the Lord; and she despised him in her heart.
17 So they brought in the ark of the Lord and set it in its place inside the tent which David had pitched for it; and David offered burnt offerings and peace offerings before the Lord. 18 When David had finished offering the burnt offering and the peace offering, he blessed the people in the name of the Lord of hosts. 19 Further, he distributed to all the people, to all the multitude of Israel, both to men and women, a cake of bread and one of dates and one of raisins to each one. Then all the people departed each to his house.
20 But when David returned to bless his household, Michal the daughter of Saul came out to meet David and said, “How the king of Israel distinguished himself today! He uncovered himself today in the eyes of his servants’ maids as one of the foolish ones shamelessly uncovers himself!” 21 So David said to Michal, “It was before the Lord, who chose me above your father and above all his house, to appoint me ruler over the people of the Lord, over Israel; therefore I will celebrate before the Lord.