Shulchan Arukh, Orach Chayim 2/שולחן ערוך·אורח חיים ב׳

1One should not put on his under-garment from a sitting position (Tur), but should rather take his under-garment and insert into it his (head and) arms while he is still lying down, with the result that when he gets up he is [already] covered.

2One should not say (to oneself): "I am now in an inner room - who can see me?", for the Holy One Blessed Be He, "His glory fills the whole earth" (Isaiah 6:3).

3One should be particular to put on the undergarment the way it goes, so that it he should not turn it inside out.

4One should put on the right shoe first and not fasten it, then after that put on the left one and fasten it, and return and fasten the right one. Rem"a: And in the case of our shoes which do not have a fastening, one puts the right one on first. (Tosafot)

5When one takes off one's shoes, one takes off the left one first.

6It is forbidden to walk in an [overly] upright posture, and one should not walk [a distance of] four amot with the head uncovered (out of respect for the Divine Presence), and one should examine one's orifices [to ensure they are kept clean]. Rem"a: And one should cover his entire body, and should not go barefoot (Or Zarua). And One should accustom oneself to relieve oneself morning and evening, which is [included in the virtues of] alacrity and cleanliness (Hagahot Maimoni Chap 5 of Hilchot Deot).