Concise Bible Dictionary:
These words often refer in scripture to a female slave, as applied to Hagar the Egyptian (Gen. 25:12); but were also used by women themselves as a term of humility, as when Hannah spake to Jehovah and to Eli (1 Sam. 1:11,16,18); as Abigail to David (1 Sam. 25:24-41); and by Mary and Elizabeth as handmaids of the Lord (Luke 1:38, 48).