1 Chronicles - Chapter 15

David takes every effort to bring the Ark of the Covenant into Jerusalem in the proper way.  As part of this, he lays aside his royal robes and wears the same robes as his people.  As he does this he is despised by his wife:

"David was clothed with a robe of fine linen, as were all the Levites who bore the ark, the singers, and Chenaniah the music master with the singers. David also wore a linen ephod. Thus all Israel brought up the ark of the covenant of the Lord with shouting and with the sound of the horn, with trumpets and with cymbals, making music with stringed instruments and harps. And it happened, as the ark of the covenant of the Lord came to the City of David, that Michal, Saul’s daughter, looked through a window and saw King David whirling and playing music; and she despised him in her heart."

Jesus, too, was a king who cast off his royal robes and took the position of a servant.  In doing this he was despised and rejected:

Paul wrote about this in his letter to the Philippians (Chapter 2):

"Though he was God, he did not think of equality with God as something to cling to. Instead, he gave up his divine privileges; he took the humble position of a slave and was born as a human being. When he appeared in human form, he humbled himself in obedience to God and died a criminal’s death on a cross."