David rejoiced greatly before The Lord with all the people as the Ark of God was moved to Jerusalem. It was an occasion of great joy, so David sang and shouted praises to God. But Michal supposed David should have been “more reserved” and “austere” and took issue with him. While all things should be done decently and in order (1 Corinthians 14:40)
it is “comely” (fitting and attractive) for the upright to utter praise to God.
And we pray:
O Lord, let us not be embarrassed or ashamed to praise you, even if others are present. Let us not do it for show, to be seen of men, nor in a truly inappropriate manner, but neither let it be that others falsely supposing our true worship is amiss stop us from worshipping you.