2 Samuel 6:22 YLT

²⁰  And David turneth back to bless his house, and Michal daughter of Saul goeth out to meet David, and saith, 'How honourable to-day was the king of Israel, who was uncovered to-day before the eyes of the handmaids of his servants, as one of the vain ones is openly uncovered!'

²¹  And David saith unto Michal, '-- Before Jehovah, who fixed on me above thy father, and above all his house, to appoint me leader over the people of Jehovah, and over Israel, -- yea, I played before Jehovah;

²²  and I have been more vile than this, and have been low in mine eyes, and with the handmaids whom thou hast spoken of, with them I am honoured.'

²³  As to Michal daughter of Saul, she had no child till the day of her death.