Quoting%20commentary for II Samuel 6:20

וַיָּ֥שָׁב דָּוִ֖ד לְבָרֵ֣ךְ אֶת־בֵּית֑וֹ וַתֵּצֵ֞א מִיכַ֤ל בַּת־שָׁאוּל֙ לִקְרַ֣את דָּוִ֔ד וַתֹּ֗אמֶר מַה־נִּכְבַּ֨ד הַיּ֜וֹם מֶ֣לֶךְ יִשְׂרָאֵ֗ל אֲשֶׁ֨ר נִגְלָ֤ה הַיּוֹם֙ לְעֵינֵ֨י אַמְה֣וֹת עֲבָדָ֔יו כְּהִגָּל֥וֹת נִגְל֖וֹת אַחַ֥ד הָרֵקִֽים׃

Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said: ‘How did the king of Israel get him honour to-day, who uncovered himself to-day in the eyes of the handmaids of his servants, as one of the vain fellows shamelessly uncovereth himself! ’

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