David didn't hold back - he danced before the ark of God! God loves the overflowing expression of joy in worship! He longs for it to be genuine, the overflow of the heart.
Also, He doesn't want us to be like Michal, looking down upon others' clothing & expressions of worship - but instead embracing the way He has created us differently, and longing to be so filled with joy in Him that we can't help but overflow!
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