I think you may be overthinking it. Maybe you have some misgivings about "suddenly" being nude in front of your kids?
Daretobare mentioned kids being natural nudists. At that age, they do tend to embrace it rather easily.
For me it was easy: I never stopped being a nudist after my daughter was born. But I do have a friend who started a little later; when her son was about 4. She decided to wanted to try home-nudism, asked me for advice; and I gave her several options based on my experiences. She was concerned about just "suddenly" being completely naked in front of her son, so the option she chose was "open doors" as Daretobare mentioned; which some regard as a more subtle way to introduce nudity at home.
So she started doing that; and as she was taking her morning shower with the door open, her son walked in. Her initial reflex was to try to hide; but she fought against it and continued showering. When she came out of the shower she found that her fears were unfounded; although curious about this "new state", her son didn't seem particularly unsettled by her nudity. So she continued getting ready in the bathroom while her son just patiently hung out with her.
Once her fear of the situation being uncomfortable was dispelled, she decided to take it a step further. One following evening while her son was bathing, she decided to undress in the bedroom; checking in on him nude while he bathed. At the end of his bath she asked him if he wanted to stay nude after his bath; and he enthusiastically agreed. And so they hung out nude together the rest of the evening.
It had literally been THAT easy. And from the stories I've heard from other parents, that's typically how easy it is.