Is it normal for sons & daughters to learn about the birds & bees at home

Is it normal for sons & daughters to learn about the birds & bees at home by being naked , seeing and touching and interacting by frolicing with experimenting , examining each other's body parts and orifices by stroking and fingering , observations and being curious with each other in a playful sense , just hanging around the house or sitting on the couch , playing footsie with each other at the dinner table , etc ?