2 Samuel 6:20

Overview - 2 Samuel 6
David fetches the ark from Kirjath-jearim on a new cart.
Uzzah is smitten at Perez-uzzah.
God blesses Obed-edom for the ark.
12 David brings the ark into Zion with sacrifices, and dances before it; for which Michal despises him.
17 He places it in a tabernacle with great joy and feasting.
20 Michal, reproving David for his religious joy, is childless to her death.
Treasury of Scripture Knowledge

2 Samuel 6:20  (King James Version)
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 to day, who uncovered himself to day in the eyes of the handmaids of his servants, as one of the vain fellows shamelessly uncovereth himself!

18 ; Genesis 18:19 ; Joshua 24:15 ; 1 Chronicles 16:43 ; Psalms 30:1 ; *title
Psalms 101:2

16 ; Psalms 69:7-9 ; Mark 3:21

Nehemiah 4:3 Nehemiah 4:4 ; Isaiah 53:2 Isaiah 53:3 ; John 13:6 ; 1 Corinthians 4:10-13 ; Philippians 2:7 Philippians 2:8

We are only to understand by this expression that David had divested himself of his royal robes, in order to appear humble before the Lord, by assimilating himself to the condition of one of the priests or Levites: for we find that he was "girded with a linen ephod;" and consequently no part of his
body was exposed, having only put off his outer garments. The terms uncovered or naked frequently mean no more than this in Scripture. 2 Samuel 6:14 2 Samuel 6:16 ; 1 Samuel 19:23 1 Samuel 19:24

vain fellows
Judges 9:4 ; Job 30:8

or, openly.