My first time, apart from skinny dipping sometimes, was two years ago when a friend who was a naturist suggested we go to a camp together for the w/e. It was, of course, completely easy and natural. But I haven't yet taken the plunge in a situation with people who are both naked and clothed like on a beach as there are lots of stories about people being embarrassed or making a point aggressively, instead of being able to enjoy being relaxed and naked.