His disciples said, "When will you become revealed to us and when shall we see you?"
Jesus said, "When you disrobe without without being ashamed and take up your garment and place them under your feet like little children and tread on them, then [will you see] the son of the living one, and you will not be afraid".

Jesus is not advising the apostles to run around naked.  The "garment" he wants them to take off is their illusion of themselfs as material beings, their egotistical self.  And only when they can cast it aside and see their own real self will they be able to see him clearly and understand what he wants of them.