Policy at home.?

I am a father of a 14 year old girl and 8 year old boy at my home we don't walk around naked often but we don't rush to cover up because another family member is in the room. Two things have recently happened that are making me reconsider this policy. The other day I took a shower and forgot a towel and walked to my bedroom and my 14 year old saw me and seemed embarred although she didn't say anything I think it bothered her. Second, about a week ago my wife and I walked into the bathroom to get our vitamins, we weren't paying attention and our daughter was getting ready for the shower (The lock is broken) when we walked in she screamed and hurried to cover up. I don't want to make my daughter uncomfortable so what do you recommend??? I feel I should talk to her about this but I don't want to embarr her more. Should I just enact a clothing all the time policy??? Please help I am stumped on this one.