David's disposition was described by an eye witness...
2 Samuel 6:20
King James Version (KJV)
20Then 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!
I think David's ephod was flapping while he danced with all his might. These ephods are modest... if one isn't dancing like crazy. Wear one with nothing underneath and watch and see if you have a chance of exposing yourself. Get my drift?
Anyway... it's evident that the handmaids and servants were worshiping also, and so weren't gawking at David's "uncovered" parts. However, in all of this Michal clearly was more focused on David's "junk", and the embarrassment it presented to the "royal office".
I'm not saying it's okay to dance naked. But if one is dancing in church and a little leg, or clevage, or chest, shows... are you going to be aghast, judging them for not being "proper" in our high Pentecostal formalities, or will you be rejoicing with them about what the LORD has done????