2 Samuel 6:22 "I will make myself yet more contemptible than this, and I will be abased in your eyes; but the maids of whom you have spoken, by them I shall be held in honor."

This is David speaking to Saul's daughter Michal. She has just chastised him for his dancing and celebrating before the ark of the covenant. Through her window, she "saw King David leaping and dancing before the Lord; and she despised him in her heart." (2 Samuel 6:16). She confronted him and accused him of being vulgar in front of his servants' maids, to which he replied that the Lord had appointed him king in place of her father and he will make merry before the Lord (2 Samuel 6:20-21).

David can't change how Michal feels about him, and he won't change his joy in the Lord, so he knows he will become even more contemptible to her. This is an unfortunate situation, but there is nothing David can do about it if he is to stay true to himself and to God. David's dance in front of the ark was a spontaneous, joyful, heartfelt expression of his love of God. He certainly was not thinking of Saul or his daughter when he did it. He was not trying in any way to upset her, he didn't even know she was watching. Once she confronted him, he could have been obsequious and apologized, but that would have been insincere and would have made him feel he had to live life second guessing his honest feelings and reactions in order to please Michal and those who agreed with her (and, spoiler alert: Michal would not have been pleased no matter what David did). He would not be true to himself and to God if he kowtowed to her. So he rightly told her that he will actually become more contemptible to her, because he is the chosen king and he will not change. He knows the majority of his people, including the maids Michal was trying to "protect",  love him and respond to his sincerity.

We all encounter people like Michal in our lives. We will be going about living our lives as best as possible, finding joy where God gives us gifts, appreciating this world and all of His blessings, when suddenly someone comes at us out of the blue, correcting us for what they deem is our wrong or offensive behavior. Typically these are people who, like Michal, are inside their own misery looking out of the window at the lives of others. They feel life has cheated them, or they have some other grievance (which we certainly should never knowingly provoke them on). They nurture resentment, often to the point of hatred, in their hearts, and they can't stand seeing those despise being successful or enjoying life.

People like this must be treated exactly the way David treated Michal. We should never apologize for finding joy in the gifts of God. We should always be confident in His love for us, even if others despise us. That is their problem, not ours. (Note, though, that we should accept valid criticism from people we know and trust who may be trying to help us correct our true faults). If we try to change ourselves to please people with grievances not caused by us, we are being untrue to ourselves and to God and will end up being as miserable as they are.