Normally, I'm in undies and Mrs. Soundman is in a sleepshirt with or without panties. With young children in the house who like to get in bed with us, it's probably better that way. We don't "hide" nudity from the kids, but we don't flaunt it either. If it happens, it happens, but we try to be careful most of the time.

But given a choice - like in a hotel or when the kids are away - I'll always be nude.

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"Sex should be friendly. Otherwise, stick to mechanical toys; it's more sanitary". Lazarus Long in Robert Heinlein's "Time Enough for Love"