When Adam and Eve were created they saw no shame in nakedness.
Genesis 2:25 And they were both naked, the man and his wife, and were not ashamed.
Their recognition of shame in nakedness came as a direct result of eating of the tree of the knowledge of good and evil
Genesis 3:7 And the eyes of them both were opened, and they knew that they were naked; and they sewed fig leaves together, and made themselves aprons.
Genesis 3:10 And he said, I heard thy voice in the garden, and I was afraid, because I was naked; and I hid myself... 11 And he said, Who told thee that thou wast naked? Hast thou eaten of the tree, whereof I commanded thee that thou shouldest not eat?
We are not told why Adam and Eve were ashamed of being naked but from that time onwards the concept of nakedness as a cause for shame was ingrained into the human psyche. We are born without a sense of nakedness but as we mature we reach a point where we become uncomfortable with being naked in the presence of others. Nakedness is associated with the loss of innocence.
Adam and Eve disobeyed God and ate the fruit and their innocence was lost along with their fellowship with their creator. For those who believe and obey the gospel, innocence and fellowship will be restored when they become partakers of the divine nature at the return of Christ. Nakedness becomes symbolic of sin. This is illustrated in the coverings made for Adam and Eve of animal skin.
Genesis 3:21 Unto Adam also and to his wife did the LORD God make coats of skins, and clothed them.
This was prophetic of God’s plan to provide a means of atonement whereby sin could be removed and man could be restored to harmony with his maker. It involved the shedding of blood.
Hebrews 9:22... without shedding of blood is no remission.
Nakedness was regulated in the Law of Moses
Exodus 20:26 Neither shalt thou go up by steps unto mine altar, that thy nakedness be not discovered thereon.
Exodus 28:42 And thou shalt make them linen breeches to cover their nakedness; from the loins even unto the thighs they shall reach:
Leviticus 18:6 None of you shall approach to any that is near of kin to him, to uncover their nakedness: I am the LORD. 7 The nakedness of thy father, or the nakedness of thy mother, shalt thou not uncover: she is thy mother; thou shalt not uncover her nakedness. 8 The nakedness of thy father’s wife shalt thou not uncover: it is thy father’s nakedness. 9 The nakedness of thy sister, the daughter of thy father, or daughter of thy mother, whether she be born at home, or born abroad, even their nakedness thou shalt not uncover. 10 The nakedness of thy son’s daughter, or of thy daughter’s daughter, even their nakedness thou shalt not uncover: for theirs is thine own nakedness. 11 The nakedness of thy father’s wife’s daughter, begotten of thy father, she is thy sister, thou shalt not uncover her nakedness. 12 Thou shalt not uncover the nakedness of thy father’s sister: she is thy father’s near kinswoman. 13 Thou shalt not uncover the nakedness of thy mother’s sister: for she is thy mother’s near kinswoman. 14 Thou shalt not uncover the nakedness of thy father’s brother, thou shalt not approach to his wife: she is thine aunt. 15 Thou shalt not uncover the nakedness of thy daughter in law: she is thy son’s wife; thou shalt not uncover her nakedness. 16 Thou shalt not uncover the nakedness of thy brother’s wife: it is thy brother’s nakedness. 17 Thou shalt not uncover the nakedness of a woman and her daughter, neither shalt thou take her son’s daughter, or her daughter’s daughter, to uncover her nakedness; for they are her near kinswomen: it is wickedness. 18 Neither shalt thou take a wife to her sister, to vex her, to uncover her nakedness, beside the other in her life time. 19 Also thou shalt not approach unto a woman to uncover her nakedness, as long as she is put apart for her uncleanness.
Leviticus 20:11 And the man that lieth with his father’s wife hath uncovered his father’s nakedness: both of them shall surely be put to death; their blood shall be upon them.
Leviticus 20:17 And if a man shall take his sister, his father’s daughter, or his mother’s daughter, and see her nakedness, and she see his nakedness; it is a wicked thing; and they shall be cut off in the sight of their people: he hath uncovered his sister’s nakedness; he shall bear his iniquity. 18 And if a man shall lie with a woman having her sickness, and shall uncover her nakedness; he hath discovered her fountain, and she hath uncovered the fountain of her blood: and both of them shall be cut off from among their people. 19 And thou shalt not uncover the nakedness of thy mother’s sister, nor of thy father’s sister: for he uncovereth his near kin: they shall bear their iniquity. 20 And if a man shall lie with his uncle’s wife, he hath uncovered his uncle’s nakedness: they shall bear their sin; they shall die childless. 21 And if a man shall take his brother’s wife, it is an unclean thing: he hath uncovered his brother’s nakedness; they shall be childless.
In Revelation, nakedness is symbolic of godlessness.
Revelation 3:17 Because thou sayest, I am rich, and increased with goods, and have need of nothing; and knowest not that thou art wretched, and miserable, and poor, and blind, and naked:
Revelation 3:18 I counsel thee to buy of me gold tried in the fire, that thou mayest be rich; and white raiment, that thou mayest be clothed, and that the shame of thy nakedness do not appear; and anoint thine eyes with eyesalve, that thou mayest see.
Revelation 16:15 Behold, I come as a thief. Blessed is he that watcheth, and keepeth his garments, lest he walk naked, and they see his shame.
The teaching is that those who obey the gospel and are doers of the word will not be found spiritually naked when Christ returns. Those who are living a Christ-like life will be clothed upon with immortality and restored to fellowship with God.
In marriage there is no shame in nakedness between a man and his wife.
Ephesians 5:31 For this cause shall a man leave his father and mother, and shall be joined unto his wife, and they two shall be one flesh.
Hebrews 13:4 Marriage is honourable in all, and the bed undefiled:
This is symbolic of the union of Christ with his bride – the church, in the kingdom of God.
Ephesians 5:32 This is a great mystery: but I speak concerning Christ and the church.
Revelation 19:7 Let us be glad and rejoice, and give honour to him: for the marriage of the Lamb is come, and his wife hath made herself ready.