Thinking about your dad´s place: Your dad is quite used to see her nude. Involving your brother or somebody else sounds much more exciting. And maybe you can do the exposure less straightforward and tease them all a little: For example, in the evening, your wife can have shower, then join you just wrapped only in a towel and spend some time with you like that. The dare will be that she will not be allowed to touch the towel to fix it. She can do it only if it falls down completely. You can just let the towel be and wait for the drop. Or when you would like to be in control of her exposure, I can imagine something like this: You are sitting on the couch and watching a movie. She is next to you and you are hugging her. Then you slowly and unobtrusively loosen the “knot” (not sure how to name it) on her towel, so it will be clear that when she stands up, the towel falls down. Then you can whisper to her: “In a while I will finish my beer and ask you to bring me another one.” Then she will have to wait with the exposure for you. You can try to tease her by drinking often, but slowly, finishing it, but saying nothing for a while…
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