As long as you aren't sleeping with your kids, it's fine. Do they know that you and your wife sleep in the nude? Lots of people find clothing uncomfortable to sleep in. My husband sleeps in the nude, I just wear panties. One of our teenagers sleeps in the nude, the other two sleep in their boxers only. It's no big deal. Remind them that proper etiquette is that if they have friends over and/ or if they stay the night somewhere, they need to wear something!
Is it normal that all of my family sleeps in the nude
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As long as you aren't sleeping with your kids, it's fine. Do they know that you and your wife sleep in the nude? Lots of people find clothing uncomfortable to sleep in. My husband sleeps in the nude, I just wear panties. One of our teenagers sleeps in the nude, the other two sleep in their boxers only. It's no big deal. Remind them that proper etiquette is that if they have friends over and/ or if they stay the night somewhere, they need to wear something!