Charles Ellicott Commentary 2 Samuel 6:16

"And it was so, as the ark of Jehovah came into the city of David, that Michal the daughter of Saul looked out at the window, and saw king David leaping and dancing before Jehovah; and she despised him in her heart." — 2 Samuel 6:16 (ASV)

She despised him. The contrast is strongly brought out here between the spirit of Saul’s house, in which Michal had been brought up, and that of David. In Saul’s time the ark had been neglected, and true religion was uncared for. Michal, therefore, who had fallen in love with David as a brave hero, could not understand the religious enthusiasm which led him to rank himself among the common people before the Lord.