John Wesley on 2 Samuel 6:14

Danced - To express his thankfulness to God by his outward carriage, according to the manner of those times. Linen ephod - The usual habit of the priests and Levites, in their sacred ministrations yet sometimes worn by others, as it was by the young child Samuel; and so David, who laid by his royal robes, and put on this robe to declare, that although he was king of Israel, yet he willingly owned himself to be the Lord's minister and servant.