2 Samuel 6:16

Nevertheless, David captured the fortress of Zion, that is the city of David.

But David returned to bless his household, and Michal the daughter of Saul came out to meet David and said, “How the king of Israel has glorified himself today! He uncovered himself today in the eyes of his servants’ maids as one of the worthless ones shamelessly uncovers himself!”

Then Solomon assembled the elders of Israel and all the heads of the tribes, the leaders of the fathers’ households of the sons of Israel, to King Solomon in Jerusalem, to bring up the ark of the covenant of Yahweh from the city of David, which is Zion.

Now it happened as the ark of the covenant of Yahweh came to the city of David, that Michal the daughter of Saul looked out of the window and saw King David leaping and celebrating; and she despised him in her heart.

David Dances Before Yahweh