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Why is it that Africans who grow up in a country where everyone is naked aren't all seeing therapists? How about Danes? Danish people love being naked with family members. Japanese? They take family baths together. What about that handsome nudist family in the soap commercial, are they irreparably damaged?
The tiniest bit of common sense will tell you that children will not be scarred for life by seeing adults naked. The psychologist Cary links to says, basically, "There's nothing wrong with it but if you think there is I'm okay with that because you Puritanical morons pay me. Whatever. Raise your children however you want, just don't mail me any more death threats."
The only thing to be concerned about is the crazy people around you. You don't want your son innocently saying something that will get your children taken away. So try to be aware of the standards of the people around you.
Long before I sprouted pubic hair and began using deodorant, my friends and I used to find Playboy magazines on construction sites (the internet didn't yet exist). Finding porn in the woods was like discovering buried treasure. Hey, look - Boobs! Butts! Vagina! I was sexually aroused and I was nine years old.
Also, my mother never got naked in front of me, but I can recall her changing down to her bra and underwear in front of me and that would also cause me to become excited. Oedipus, are you there? I'm feeling confused!
Of course I couldn't articulate those strange emotions at the time, but it was uncomfortable for me. By ten or eleven, my mom stopped.
At 37, these memories make me laugh and I don't think there's been any brain damage or sexual dysfunction. If your child is used to it, then I guess it's no big deal. But the day is rapidly approaching when it will become awkward. Really awkward.
So ask yourself, is it so hard to wrap yourself in a towel or put on a bathrobe?
I don't think you're doing your children any harm, but I don't think you should wait for your son to ask you to put some clothes on. It puts too great a burden on him. Even in the most open families it's hard for a 13 year old kid to say, "Uh, Mom, why don't you put some, you know, clothes on." Use your own judgement. If you sense that he's uncomfortable, just put a robe or something on. Chances are, he'll never comment on it and it will be no big deal. If he has to ask you, it may not be a big deal to you, but it will always be to him.
It's just a body. Going to a nude beach is really not an erotic experience. I see nothing wrong with normalizing nudity. I saw (and still see) any number of my relatives nude regularly. We all share the bathroom. No one makes a big deal. I've yet to get aroused by the sight of my naked grandma, and I'm well past puberty.
Your kids will be fine.
Are you a nudist? Cary seems to imply you just aren't that interested in hiding yourself during normal showering/dressing activities.
I think there may be a distinction when it comes to your son dealing with puberty. Asking him to leave for a minute while you dress/shower is reasonable and shouldn't be an issue.
But I think he may really struggle with coming to terms with sexuality if his mom is naked on the couch watching TV that he suddenly finds erotic (which can be dang near anything when you are 14).
Do whatever you want, but I think you should consider his potential embarrassment over the issue. Getting hard over your mom is kinda rough on a junior high kid.