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The episode in question is "Rightful Heir" (season 6, episode 23). Worf is late for his duty shift. When encountered in his quarters he is performing some kind of klingon ritual.

I don't think he was rude. Giving him the chance to explore his own culture was quite nice of Picard concidering that Worf is the chief of security on Starfleets flagship. Furthermore Picard did not give him any time limit but expects him back in the near with a solution to his personal problems. Afterall Picard and the crew of the Enterprise are explorers and exploring ones culture is a part of that spirit.

The only rude part was his first sentence "On your feet, lieutenant!".

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