Well honey what can I tell you. There's going to be at least a couple of times in life that your going to get caught or seen naked. Mine happen when I discovered peep holes on the shower wall that thought were screw holes. They weren't, they went all the way to the other side. I later found out boys had been looking through them and had seen me and most of the others girls in school for months. Went to the other side and took a look, a view of the whole shower and nothing left unseen. 16 years old, in high school and felt like I had no clothes walking passed boys on the school hallways. A very embarrassing school year I might add.
There were no nude beaches in our area, so my boyfriend and I used to take turns holding each others bathing suits so we could go for a quick naked swim. Came back from my nude swim, put my bikini back on so he could do the same. He handed me his bathing suit and never expected I was going to swim away with them. When he looked back I was half way up the beach laughing and waving his swim suit in front of my girlfriends. Embarrassing him naked in front of other girls has always turned me on. I still remember him walking out all embarrassed and humiliated, with my girlfriends having a party looking at his dick. I really thought he was going to dump me that day for humiliating him that way. He didn't because a I think he enjoyed the experience.