I believe the story of David dancing deserves further examination.
2 Samuel 2:14 -15 And David danced before the LORD with all his might; and David was girded with a linen ephod. So David and all the house of Israel brought up the ark of the LORD with shouting, and with the sound of the trumpet.
The parallel of these verses is in 1 Chronicles...
1 Chronicles 15:27-28 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.
The Bible clearly states that Dived was clothed, not naked. And the chapters indicated that he was not in the temple but out in the city. So then we wonder, why does his way then make this comment to him?
2 Samuel 6:20 -21 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! And David said unto Michal, It was before the LORD, which chose me before thy father, and before all his house, to appoint me ruler over the people of the LORD, over Israel: therefore will I play before the LORD.
Since David had on clothes as the other verses stated, why would she say that? Now if we remember, David was a King. But in this case, he was wearing a linen ephod, clothing that alone was common to a priest in a temple rather than to a King of Israel. That why she made sure to mention his status as King. When we look at the Hebrew translation of "uncovereth" here - the word is galah.
Galah can mean many things. It can mean to "denude, reveal, appear, bewray, bring (carry, go, lead), depart, disclose, discover, plainly, publish, remove, tell, uncover."
In her eyes, he was "appearing" like a commoner and behaving like one. He was out of or stripped of his normal kingly attire. She felt his behavior and dress was beneath his status as King. That's why he said, that the
Lord chose him and appointed him ruler over the people. For that reason, he said will play before the Lord...praise his God. He responded humbly, not full of himself as King.
Here's more info:
http://www.doesgodexist.org/JulAug06/DancingNakedorUnderstandingBadly.html