Quite a few years ago I went to naked yoga in Brighton. The room it was held in wasn't massive so the maximum numbers were around eight or ten. I always used to go alone so had to pair off with someone when I got there. It never got overtly sexual which was fine with me as I was fairly new to my bisexuality at the time.
I remember one time pairing off with guy who was smooth like me, and after some body contact we both started getting hard. We appeared to be the only couple there where this was happening so felt a bit self conscious. The instructor also noticed us but didn't seem to mind. It was really nice doing the usual yoga poses but having a semi, and feeling his one press on me. If the group had been more sexual I would have definitely clicked with this guy. With much more experience under my belt now, I would have ended up in his bed.