It happened, as the ark of the covenant of Yahweh came to the city of David, that Michal the daughter of Saul looked out at the window, and saw king David dancing and playing; and she despised him in her heart.
We have written several pages regarding this sad episode in my commentary on 2Samuel, pp. 75-77.  Some may be surprised that we find many reasons to sympathize with the lonely, mistreated daughter of Saul. Also, this writer seriously questions the propriety of David's actions in dancing before the ark without his breeches.