Perhaps you're wondering why nudity is so associated with shame.
Most psychologists (as well common sense) will tell you we're not born ashamed of our bodies. Toddlers especially are utterly fearless in their nudity, but along the way we inevitably learn to conform to societal standards, cover up those fleshy bits and become ashamed of what we are beneath our garments.
As discussed in this article by Ransom Riggs, the predominant theory is that too much social gregariousness and too much nudity among early humans simply made for a powder keg of temptation. As such, mandatory clothing and recommended body shame became codified in society as a means of protecting mating pairs.