The Holy Ruzhiner zy’a told the following story:
A Russian Czar suffered from phobias, and when he traveled, he had soldiers scout the area ahead of him, to make certain that his enemies weren't waiting in ambush to harm him. When the Czar met up with his soldiers, they would tell him that the area was safe, and the Czar would ride on.
Once, a soldier checked an area in a forest, and he saw that it was safe for the Czar to pass through. He waited at his post for the Czar's arrival. The sun was shining brightly, and there was a lake nearby. The soldier thought he had time before the Czar arrived, so he bathed in the lake and drank the water.
The Czar arrived, and still undressed, the soldier rushed to his post to tell the Czar that the coast was clear and that the Czar could pass safely.
The Czar barked, "Don't you know it is disrespectful to stand before me without clothing?"
The soldier replied, "I know. But I figured why should my negligence of leaving my post cause the Czar to wait until I dress? So I came here as quickly as I could to tell the Czar that he can continue his travels."
The nimshal is, we shouldn't allow past sins to prevent us from serving Hashem. Even if we became undressed and disgraced because of our sins, this doesn't permit us to be lax from doing our service before Hashem as we are obligated to do.
Adam said to Hashem (3:10-11), ,ואחבא אנכי עירום כי ואירא בגן שמעתי קולך את "I heard Your voice in the garden, and I was afraid because I am undressed, so I hid." He was also spiritually naked because of his sin, and he didn't feel worthy to stand before Hashem. Hashem replied, אתה עירום כי לך הגיד מי, "Who told you that you are naked?" Hashem was saying, "Who told you that this is a valid reason not to stand before Me? When I summon for you, you must come. Even if you are naked due to sins, that doesn't exempt you from doing what is incumbent upon you to do."
