There was a time when David danced before the Lord. In 2 Samuel 6, after David is made king and has conquered the city of Jerusalem, he goes to get the ark of God and bring it to his new city. As he brings the ark back, the text says,
And David danced before the LORD with all his might. And David was wearing a linen ephod. 15 So David and all the house of Israel brought up the ark of the LORD with shouting and with the sound of the horn. (2 Sa 6:14–15)
As we will see, this dance was both a dance of delight and a dance of humiliation, all because the ark of God, the King of glory, was coming.