It's my experience that family nudity creates a very positive environment for intimacy and fun. Clothes create not only a physical barrier, but a mental barrier as well, to intimate sharing and play. When these barriers are removed, there is an openness among family members that promotes personal sharing and intimacy.
I used to watch my older masturbate all the time. I 8yrs old and he was 14 at the time. Both of us slept nude and shared a bed together. He would wait until I was "asleep" and he would jerk off. One night I said what are you doing, he said I thought there was something on me. I just laughed and closed my eyes. I knew he was lying because he got paper towels to clean up whatever was on him.
It depends on the family but the families that I have known have all enjoyed the intimate side. Nobody has been forced or abused. Everybody is happy to be nude, and aroused. It is a natural state and shouldn't be discouraged. Children need to be taught how to handle situations without feeling dirty and being labelled perverts.
i agree sausage. my two boys and i have been sharing pleasuring ourselves for many years. i thought i taught them everything, but they are still teaching me about the ins and outs of the art of masturbation.