Catalysis of the reaction: N-acetyl-D-glucosaminyldiphosphoundecaprenol + UDP-D-glucose = beta-D-glucosyl-1,4-N-acetyl-D-glucosaminyldiphosphoundecaprenol + UDP.
uridine diphosphoglucose-acetylglucosaminylpyrophosphorylundecaprenol glucosyltransferase activity