It is normal. During my studies I was staying in an apartment with a gf. At home I used to stay nude in my room, now it was problem. Once I was alone in apartment. Having a cup of coffee I was watching TV in nude. I couldn't know when my gf unlocked the door (she had one key) and entered. She saw my naked and smiled. I was embarrassed and got up to cover myself. She said, it was OK, stay as you were comfortable. I had to tell her about my nude living at home. She expressed no concern on my nudity. Next day I found her in bra and pantie which she readily took off on my insistence. We lived there for two years, always naked.
Is it normal to walk around my house in only my bra & panties?
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It is normal. During my studies I was staying in an apartment with a gf. At home I used to stay nude in my room, now it was problem. Once I was alone in apartment. Having a cup of coffee I was watching TV in nude. I couldn't know when my gf unlocked the door (she had one key) and entered. She saw my naked and smiled. I was embarrassed and got up to cover myself. She said, it was OK, stay as you were comfortable. I had to tell her about my nude living at home. She expressed no concern on my nudity. Next day I found her in bra and pantie which she readily took off on my insistence. We lived there for two years, always naked.