2 Samuel 6:14 Then David danced before the Lord with all his might; and David was wearing a linen ephod.
David wanted to make sure that he celebrated the return of the ark from his heart and not through pomp and ceremony.
There may well be a time for the right pomp and ceremony, but David was leaving that all behind, dancing along wearing a linen ephod instead of his royal robes.
Some people objected, and even called him a fool; but for David this was a release as he worshiped his God with nothing between him and God!
Dance and sing before God, but make it personal, not ceremonial.