I've seen my sister naked or semi-naked a bunch, so here are some stories. When we were younger, we would play games like card games, chess, video games, whatever. We were really competitive, but we didn't really have anything to bet, so a lot of times we'd agree that the loser of whatever game we were playing would have to do a forfeit. And a lot of the forfeits ended up involving nudity.
Usually this didn't mean all-the-way nudity. For example, one of our favorites was "cover yourself with an object." Either she or I would have to take off everything below the waist, and then we'd get some object to cover ourselves with, like a pillow, or a book, or a stuffed animal. The loser would go in their room and come back out pantsless, holding the object carefully in front of our nether regions, and then stay like that for some period of time. We would always pretend like we were going to sn*tch the other one's covering object away, but we didn't actually do it. A couple times I made her go topless instead, and cover herself with her hands.
Another one was "run through the room naked." This required complete nudity, but you were still allowed to cover up with your hands. My sister tried to do the "one hand over her chest, one hand between her legs" thing, but she didn't always get the chest part completely right, as my sister is a fairly well-endowed girl.
When we got a bit older, we started specifying that you weren't allowed to cover up with your hands when you did the naked run. So the loser would take off their clothes in the other room and then blaze through completely exposed, usually shouting while we did it.
We also had a pool in the back, so another one was "swim a lap naked". The loser would get in the water, take off their suit, then swim across the pool and back before putting their suit back on. Then we modified this so that you didn't get to put your suit back on in the pool, but you had to hop out and run naked back into the house to get dressed. The one time she did it, my sister covered only her boobs, which was funny.
A lot of the time it was just the two of us, but sometimes there were other people there. Sometimes we did this when either her friends or my friends were over at our house, and then the friends got to see (and join in) the show. And a couple times we made each other do a forfeit in front of our mom. I had to do "naked except for a pillow" in front of mom, and I made my sister do "naked run" through a room where our mom was reading. Our parents knew we did this kind of stuff, but they didn't mind. Mom just laughed at us.
One time when we were at my sister's apartment, I beat her in a high-stakes game of Mario Kart, and made her do an extreme forfeit. She had to drop her towel in front of the pizza delivery guy, while I hid in the closet and watched. To my great surprise she went through with it, and the pizza guy got quite an eyeful. She was really embarrassed by that one. In revenge, the next time she beat me in Mario Kart, she demanded I do a forfeit even though we hadn't been playing for forfeits. She made me walk from one end of the apartment to the other completely naked and blindfolded. I did it, even though it wasn't fair, just because I figured she needed some revenge after the pizza delivery stunt, and by then we only very rarely did the forfeit thing anymore.
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