John Wesley on 2 Samuel 6:20

Bless his household - Ministers must not think, that their public performances will excuse them from family worship: but when they have blessed the public assembly, they are to return and bless their own household. And none is too great to do this. It is the work of angels to worship God; and therefore certainly can be no disparagement to the greatest of men. Who uncovered - By stripping himself of his royal robes, that he might put on a Levitical ephod.