Found this old clip that I never thought I'd see again. It's from this sitcom called Run of the House that aired in 2003-2004 for 1 season. It's about these 4 siblings living together alone after their parents moved to another state for health reasons. Three of them are adults and the youngest is in high school. I only watched one episode though (or at least I only remember one episode), called "The Education of Chris Franklin."
In the episode, the youngest, Brooke, is having trouble in English class and the teacher wants to meet with her parents. Since they're not around, she sends her brother Chris. Later that night, Brooke finds Chris and her teacher together on the couch in the living room. (Why they're there, I have no idea. It's like they were asking to be caught) The teacher is only wearing a camisole and boy shorts and tries to cover up when discovered by her student. The other two siblings eventually walk in as well before the teacher leaves. Later on, due to the incident, Brooke can't help but picture the teacher naked while in class, leading to a bunch of hidden nudity gags.
The EUF scene starts around the 0:54 mark, with the hidden nudity scene happening right after.
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