21 And David said unto Michal, It was before the LORD, which chose me before thy father, and before all his house, to appoint me ruler over the people of the LORD, over Israel: therefore will I play before the LORD.
But the things which viewed corporeally are unseemly, when viewed in regard to holy religion become venerable, so that they who blame such things will involve their own souls in the net of blame. Thus Michal reproves David for his dancing and says to him, How glorious was the king of Israel to day, who uncovered himself to day in the eyes of his handmaids! And David answered her, It was before the Lord, which chose me before thy father, and before all his house to appoint me ruler over the people of the Lord, over Israel: therefore will I play before the Lord, and I will be yet more vile thus, and will be base in mine own sight, and of the maid-servants which thou hast spoken of, of them shall I be had in honour.
You will be blessed if you give thanks to God both in adversity and in prosperity and if you consider the prosperity of this life as smoke and vapor that immediately vanishes. David was a king, yet, in spite of having numerous treasures and ruling countless peoples with a strong hand, he sang of himself as humble and said, “I am afflicted in an agony from my youth.” And again, he said to the daughter of Saul, “I shall walk humbly, and I shall appear humbly before the Lord, who chose me rather than your father.” Likewise, he also said, “I am a wayfarer of earth and a pilgrim like all my fathers.”
[AD 397] Ambrose of Milan on 2 Samuel 6:20-23