2 Samuel 6:1-5
David Brings the Ark to Jerusalem
6 David again gathered all the chosen men of Israel, thirty thousand. 2 David and all the people with him set out and went from Baale-judah, to bring up from there the ark of God, which is called by the name of the Lord of hosts who is enthroned on the cherubim. 3 They carried the ark of God on a new cart, and brought it out of the house of Abinadab, which was on the hill. Uzzah and Ahio,[a] the sons of Abinadab, were driving the new cart 4 with the ark of God;[b] and Ahio[c] went in front of the ark. 5 David and all the house of Israel were dancing before the Lord with all their might, with songs[d] and lyres and harps and tambourines and castanets and cymbals.
2 Samuel 6:20-23
20 David returned to bless his household. But Michal the daughter of Saul came out to meet David, and said, “How the king of Israel honored himself today, uncovering himself today before the eyes of his servants’ maids, as any vulgar fellow might shamelessly uncover himself!” 21 David said to Michal, “It was before the Lord, who chose me in place of your father and all his household, to appoint me as prince over Israel, the people of the Lord, that I have danced before the Lord. 22 I will make myself yet more contemptible than this, and I will be abased in my own eyes; but by the maids of whom you have spoken, by them I shall be held in honor.” 23 And Michal the daughter of Saul had no child to the day of her death.