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This underpainting is done with very thinned pigment, almost watery and in a very light value, because the values get darker with each application of glaze. What I don't understand is how they painted the flesh using the glaze technique.
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I really need to see this in order to explain it. Did you try a Google Image Search on Jacques-Louis David?
http://images.google.com
It is very possible that you are not looking at an underpainting at all, it might just be the way David blocked in his drawing and design of that portion of the painting.
The way you have described this, the next step would NOT be adding flesh tones by glazing.