I personally don't feel comfortable nude, skin to skin with DD2, but we often all have showers together to save on water, or time, what ever the case.
DD1 being 6 turning 7 isn't in with me very often & not with DH all that often, but still see's us getting dressed, going to the loo etc.

A friend of mine was over & I had the girls in the shower. She needed to go to the loo, so I put a towel between the shower & loo & told her to go.
The girls weren't fazed. Jaz just asked her to open the shampoo for her, lol. Same as she would if one of us was standing at the mirror.

DH, DS & I have a shower just the 3 of us every Wednesday & Friday when both the girls are at school. DS is still pretty young though.

Its kind of the way our parents were, so kind of the way we are. I want the girls to be comfortable in their own skin, but Jaz getting nekkid to play on the swings in the back yard at 6 was pushing it, so I'm trying to get them to understand that its not always ok.