daughter of Saul. Note this. It does not say "the wife of David".
uncovered. disrobed, referring to his royal robes.
Related Commentaries of 2 Samuel 6:20
2 Samuel 6:20
20 Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said, How glorious was the king of Israel to day, who uncovered himself to day in the eyes of the handmaids of his servants, as one of the vain fellows shamelesslyf uncovereth himself!