Albert Barnes Commentary 2 Samuel 6:20

"Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said, How glorious was the king of Israel 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!" — 2 Samuel 6:20 (ASV)

Then David returned ... - He had passed his house to accompany the ark to the tabernacle he had pitched for it, which is when Michal saw him dancing. He now returned to bless his household. He had already blessed the people (2 Samuel 6:18), but there were the members of his own household whom the customs of the age did not allow to be present. And so, with his usual considerate kindness and affection, David came to bless them as well on this solemn occasion.