2Sa 6:14 Then David danced before the LORD with all his might; and David was wearing a linen ephod.

In 2 Samuel, David is returning the Ark of the Covenant to Jerusalem. David dances before God wearing a linen ephod. In popular culture, people believe David danced naked before God, but this is not the case. Apparently, David dressed down from his Kingly garb, into the garb of a priest, and vigorously danced before God. David’s wife chastises him:

2Sa 6:20 Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said, “How glorious was the king of Israel today, uncovering himself today in the eyes of the maids of his servants, as one of the base fellows shamelessly uncovers himself!”
2Sa 6:21 So David said to Michal, “It was before the LORD, who chose me instead of your father and all his house, to appoint me ruler over the people of the LORD, over Israel. Therefore I will play music before the LORD.
2Sa 6:22 And I will be even more undignified than this, and will be humble in my own sight. But as for the maidservants of whom you have spoken, by them I will be held in honor.”
2Sa 6:23 Therefore Michal the daughter of Saul had no children to the day of her death.

When David’s wife accusing David of being “uncovered”, we can assume it just means “dressed down”. David was wearing a linen ephod. Some think that David was “only” wearing a linen ephod and that is to what “undressed” refers. Whatever it was, David was acting in the eyes of his wife in an undignified manner and she criticizes him.

Because of her chastisement, God curses her with being barren. God seems to have greatly approved of David’s fervent dancing to Him.

What Christians can learn is that God likes our dancing to Him. We can please God with our praises and actions. We need not worry what others believe is undignified.