We have 2 teenagers. Neither my husband nor I have worried about being naked in front of them... still don't worry about though I think they would rather we didn't.

We neck and snuggle in front of them and are fairly frank about our sexuality. Given that both kids have had sex education in school we haven't had to have the nuts and bolts discussion about sex. I have spoken with them about respect for themselves and others and waiting for their first sexual experience with another person (more along the lines of if I catch you sleeping with anyone or if you get a girl pregnant I'll kill you ).

Growing up neither of my parents paid particular attention to their state of dress around us children and it never bothered me. Mom gave me a booklet about reproduction when I was about 11, I read it didn't have any questions and didn't think about it. My first period was traumatic... I thought I was bleeding to death! Wish I had asked more questions