When David returned home to bless his household, Michal daughter of Saul came out to meet him and said, "How the king of Israel has distinguished himself today, disrobing1 in the sight of the slave girls of his servants as any vulgar fellow would!"
References for 2 Samuel 6:20
David said to Michal, "It was before the LORD, who chose me rather than your father or anyone from his house when he appointed2 me ruler3 over the LORD's people Israel--I will celebrate before the LORD.
References for 2 Samuel 6:21
I will become even more undignified than this, and I will be humiliated in my own eyes. But by these slave girls you spoke of, I will be held in honor."
And Michal daughter of Saul had no children to the day of her death.