Social stories are a great way to start talking with your child about an area that area that you would like to see improve in a non-punitive way. It is great for outlining the expectations as well as to teach social rules.
"I Will Keep My Clothes On" is a social story that discusses the expectation of keeping clothes on in the presence of others and public places. It also highlights where it is ok to disrobe and be naked. This is an important concept to teach as it is important for safety, it teaches the child social rules and boundaries.
This can be included as a part of a behaviour intervention protocol.