2 Samuel 6:20

Then David returned to bless his household,.... His wife, children, and servants, to wish all happiness to them on this occasion, and pray to God for blessings on them temporal and spiritual. This was done when he came from the place where the ark was set, and was come to his own palace:

and Michal the daughter of Saul came out to meet David; before he had gotten quite to his own house:

and said, how glorious was the king of Israel today; which she spoke in an ironical jeering way, meaning the reverse, how inglorious, mean, and despicable he had made himself to be, by his airs and gestures:

who uncovered himself today in the eyes of the handmaids of his servants, as one of the vain fellows shamelessly uncovereth himself! because he had put off his royal robes, and put on a linen ephod; for that he had stripped himself naked cannot be supposed, nor do her words import so much though a passionate exaggeration of the case.