So often in our worship, especially in the "modern" world, we are not free in our worship. Be free. When David was bringing the ark of the covenant into Jerusalem, David worshiped. Undignified. Scripture says in 2 Samuel 6 that he danced celebrating and praising the Lord. Imagine that! The king himself was worshiping in an undignified fashion... dancing! It didn't matter who saw him. It didn't matter what he looked like. He just worshiped freely in the way he felt he needed to worship God.
When David returns home he discovers that his wife, Michal, saw his act of worship. It is here in verse 21 that we discover that David even may have removed part of his clothes in his worship! Michal chastises and berates David for his vulgar display. What is David's response? "I will become even more undignified than this, and even become humiliated in my own eyes." (2 Samuel 6:22)
David could have been concerned about what he looked like while he worshiped. But he didn't. His great love for God outweighed his vanity or his worry about what others would think of him. He was only concerned about what God thought of him. David was called a man after God's own heart. Michal... not so much. In fact, because of her chastisement of David's worship, she was struck barren by God, never to have children. Be careful of how you judge others in their worship.
Be free in your own worship. Run to God and wrap your arms around him. Be undignified. Remember this: what you and others may think is undignified in worship may be what God accepts and desires. Just like with David. Clap. Dance. Shout. Sit. Pray. Sing. Rejoice. Cry. Laugh. Just be with him. God will look at the heart and if that is focused on him, let yourself be undignified.
worship Him 24/7...