We are OK with casual nudity at home. My husband and I like to sleep naked so we decided we would teach our kids about "OK" nudity in situations such as going to bed, getting up in the morning, getting dressed, or coming or going to the bathroom. My son developed his modesty when he began to get morning erections, so now he wears boxers when out of bed, although he sleeps in the nude. My teenage girls were a bit shy when they began to develp boobs and wear bathrobes when they get up. However, everybody is OK with using the pool in the nude.