“And David was clothed with a robe of fine linen, and all the Levites that bare the ark, and the singers, and Chenaniah the master of the song with the singers: David also had upon him an ephod of linen. Thus all Israel brought up the ark of the covenant of the LORD with shouting, and with sound of the cornet, and with trumpets, and with cymbals, making a noise with psalteries and harps. And it came to pass, as the ark of the covenant of the LORD came to the city of David, that Michal the daughter of Saul looking out at a window saw king David dancing and playing: and she despised him in her heart.” 1 Chronicles 15:27-29 (KJV)
The “linen robe” and the “ephod of linen” were garments of the priests (Exodus 28:5-14). King David was celebrating the bringing of the ark of the covenant to Jerusalem because in his first attempt he had failed to consult the LORD and His word on the matter (15:13).
There was singing. There was dancing. There was such a jubilant celebration of worship to the LORD as the ark is brought into the city.
Michal, David’s wife, was not pleased with David. What was her problem. It was not because he was actually naked as what some suppose; but it was because he had stripped off his robes, the garments of being king, and put on the garments of a priest.
On David’s part it was an act of humility. On Michal’s part it was vanity and pride. Because of Michal’s act she would never have children.
David is representative of all Christians, in that when we come to God through His Son Jesus we are made priests ourselves and can through the blood of Jesus go directly to the throne room of the Most High (1 Peter 2:9; Hebrews 4:16).