Nudity & Modesty

Clothing and modesty are difficult, controversial topics. In the Garden, Adam and Eve were naked and unashamed. So, why do we wear clothes now? Will we go back to nudity in a perfect world after God's restoration of all things? What does biblical modesty look like? This is one of those topics where falling into extremes is very easy, and we see those extremes being advocated for today. But what does the Word of God say?