2 Samuel 6:20

As soon as David returned home to bless his own household, Saul’s daughter Michal came out to meet him. “How the king of Israel has distinguished himself today!” she said. “He has uncovered himself today in the sight of the maidservants of his subjects, like a vulgar person would do.”
BSB · Berean Standard Bible
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!

Note shamelessly: or, openly

KJV · King James Version
Then David returned to bless his household. Michal the daughter of Saul came out to meet David, and said, “How glorious the king of Israel was today, who uncovered himself today in the eyes of his servants’ maids, as one of the vain fellows shamelessly uncovers himself!”
WEB · World English Bible
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!
ASV · American Standard Version

Related passages

From the Treasury of Scripture Knowledge, grouped by the word they explain.

bless
2 Samuel 6:18; Genesis 18:19; Joshua 24:15; 1 Chronicles 16:43; Psalm 30:1; Psalm 101:2
Michal
2 Samuel 6:16; Psalm 69:7–9; Mark 3:21
glorious
Nehemiah 4:3, 4; Isaiah 53:2, 3; John 13:6; 1 Corinthians 4:10–13; Philippians 2:7, 8
uncovered
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, 16; 1 Samuel 19:23, 24
vain fellows
Judges 9:4; Job 30:8