20 Then David came back to give a blessing to his family. And Michal, Saul's daughter, came out to him and said, How full of glory was the king of Israel today, who let himself be seen uncovered by his servant-girls like a foolish person uncovering himself without shame! 21 And David said to Michal, I was dancing before the Lord, who put me over your father and all his sons, to make me a ruler over the people of the Lord, over his people Israel: and I will go on playing before the Lord; 22 And I will do even worse than this, and make myself even lower in your eyes: but the servant-girls of whom you were talking will give me honour. 23 And Michal, Saul's daughter, had no child till the day of her death.
Matthew Henry's Commentary on 2 Samuel 6:20-23
Commentary on 2 Samuel 6:20-23
(Read 2 Samuel 6:20-23)
David returned to bless his household, to pray with them, and for them, and to offer up family thanksgiving for this national mercy. It is angels' work to worship God, surely that cannot lower the greatest of men. But even the palaces of princes are not free from family troubles. Exercises of religion appear mean in the eyes of those who have little or no religion themselves. If we can approve ourselves to God in what we do in religion, and do it as before the Lord, we need not heed reproach. Piety will have its praise: let us not be indifferent in it, nor afraid or ashamed to own it. David was contented to justify himself, and he did not further reprove or blame Michal's insolence; but God punished her. Those that honour God, he will honour; but those that despise him, and his servants and service, shall be lightly esteemed.