2 Samuel 6:15-17 New American Standard Bible (NASB)

15. So David and all the house of Israel were bringing up the ark of the Lord with shouting and the sound of the trumpet.

16. Then it happened as the ark of the Lord came into the city of David that Michal the daughter of Saul looked out of the window and saw King David leaping and dancing before the Lord; and she despised him in her heart.

17. So they brought in the ark of the Lord and set it in its place inside the tent which David had pitched for it; and David offered burnt offerings and peace offerings before the Lord.

2 Samuel 6