We analyze the nonlinear dynamics of atomic dark states in Lambda configuration that interact with light at exact resonance. We found a generalization of shape-preserving pulses [R. Grobe, F. T. Hioe, and J. H. Eberly, Phys. Rev. Lett. 73, 3183 (1994)] and show that the condition for adiabaticity of the atomic dynamics is never violated, as long as spontaneous emission is negligible.