Psalms 104:1

בָּרְכִי נַפְשִׁי אֶת ה' ה' אֱלֹקי גָּדַלְתָּ מְּאֹד הוֹד וְהָדָר לָבָשְׁתָּ

Bless Hashem, my soul. Hashem, my G-d, You are very great. You are clothed with glory and majesty.

Before putting on the tallis, we recite this verse, which describes G-d as being cloaked in glory and majesty. This, the ibn Ezra tells us, is like a garment to a person. We don’t actually see another person’s body, so much as we see his outfit. Similarly, the glory and majesty of G-d are what we are able to perceive of G-d spiritually.