14 Then David danced before the Lord with all his might; and David was wearing a linen ephod. 15 So David and all the house of Israel brought up the ark of the Lord with shouting and with the sound of the trumpet. 16 Now as the ark of the Lord came into the City of David, Michal, Saul's daughter, looked through a window and saw King David leaping and whirling before the Lord; and she despised him in her heart. 17 So they brought the ark of the Lord, and set it in its place in the midst of the tabernacle that David had erected for it. Then David offered burnt offerings and peace offerings before the Lord. 18 And when David had finished offering burnt offerings and peace offerings, he blessed the people in the name of the Lord of hosts. 19 Then he distributed among all the people, among the whole multitude of Israel, both the women and the men, to everyone a loaf of bread, a piece of meat, and a cake of raisins. So all the people departed, everyone to his house.
20 Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said, "How glorious was the king of Israel today, uncovering himself today in the eyes of the maids of his servants, as one of the base fellows shamelessly uncovers himself!" 21 So David said to Michal, "It was before the Lord, who chose me instead of your father and all his house, to appoint me ruler over the people of the Lord, over Israel. Therefore I will play music before the Lord. 22 And I will be even more undignified than this, and will be humble in my own sight. But as for the maidservants of whom you have spoken, by them I will be held in honor."
Matthew Henry's Commentary on 2 Samuel 6:14-22
Commentary on 2 Samuel 6:12-19
(Read 2 Samuel 6:12-19)
It became evident, that happy was the man who had the ark near him. Christ is indeed a Stone of stumbling, and a Rock of offence, to those that are disobedient; but to those that believe, he is a Corner-stone, elect, precious, 1 Peter 2:6-8. Let us be religious. Is the ark a blessing to others' houses? We may have it, and the blessing of it, without fetching it away from our neighbours. David, at first setting out, offered sacrifices to God. We are likely to speed in our enterprises, when we begin with God, and give diligence to seek peace with him. And we are so unworthy, and our services are so defiled, that all our joy in God must be connected with repentance and faith in the Redeemer's atoning blood. David attended with high expressions of joy. We ought to serve God with our whole body and soul, and with every endowment and power we possess. On this occasion David laid aside his royal robes, and put on a plain linen dress. David prayed with and for the people, and as a prophet, solemnly blessed them in the name of the Lord.
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.