'Nakedness' in the Bible

Ham, the father of Canaan, saw [by accident] the nakedness of his father, and [to his father’s shame] told his two brothers outside.

So Shem and Japheth took a robe and put it on both their shoulders, and walked backwards and covered the nakedness of their father; their faces were turned away so that they did not see their father’s nakedness.

Joseph remembered the dreams he had dreamed about them, and said to them, “You are spies; you have come [with a malicious purpose] to observe the undefended parts of our land.”

Yet he said to them, “No, you have come to see the undefended parts of our land.”