OP has already pushed way too hard. So if anything happens, even him saying, "I'm gonna do it, close your eyes" etc. then she's gonna realised that was your plan all along. Id go totally opposite and do nothing unless she initiates the skinny dip. I wouldn't even bring it up. That will make her think you were just joking and then it allows her to think you don't want to see her, which in turn may make her want to do it even though she seems to have set out pretty clear boundaries. Then the next time you go hiking with her, so may be open to a spontaneous dip.
But doing this with a cousin? Mmm... ain't the best idea. Why not take a woman you like who will go skinny dipping and that way the cousin may join in as you won't look like a predator.
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