Here's the golden question of when you know you crossed the next step and should be allowed to, maybe, feel embarrassed or not regarding your loved one's nakedness:
What colour was it?
Depending on which part of the body you remember the colour of when asking yourself that question, you'll know how embarrassing this might be. If all you remember is the colour of typical skin, hair, nails, eyes, lips, etc, those are every day's thing you see all the time so no need to feel embarrassed! For the rest, well, it depends on how you were raised.