There are a few passages in the Bible where I am surprised that people seem not to be wearing clothes. In 1 Samuel 19:24, Saul lay down naked. In Isaiah 20:2-3, Isaiah walked naked and barefoot for three years. In John 21:7, Peter had been working naked before he dressed and jumped into the water to meet Jesus. What does this mean?

The short answer: these people were not naked. "Naked" in the Bible often means not wearing outer clothes. If you took off your cloak, you were considered to be "naked."