What does 2 Samuel 6:19 mean?

When David went home to bless his own family, Michal, Saul's daughter, came out to meet him. She said, 'How the king of Israel has honored himself today—exposing himself in front of the servant girls like some shameless fool!' 2 Samuel 6:19 - Modern Text Bible

(Michal confronts David, mocking him for acting beneath his royal status. She cares more about appearances than about worship.)