man in rocking chair

This dream wasn't about sex since the person it involved was more of a father figure. However, I wasn't wearing underwear. This person was holding me while he was singing and rocking me to sleep (in a fatherly way). I think we were sitting on a rocking chair in one of the bedrooms in my house. I felt embarrassed because I noticed that I wasn't wearing underwear or was exposed so I tried to cover up with my bathrobe or whatever I was wearing in the dark. And he continued to rock me to sleep.

I real life, this man is my new stepfather.

*bump

It sounds relaxing and friendly to me; He's OK with you and kind.

Nakedness you are right is not sexual. This is about your becoming more transparent as you get older and opening up more to those around you. The bedroom represents intimacy and perhaps some issues you have had in the past with intimacy and getting close to people. The feeling of needing to cover up could refer to something you feel shame about and wouldn't want him to know for fear of rejection - this dream is about acceptance and belonging. The bathrobe refers to coming out of a place of cleansing emotionally / spiritually. This is a time of transition for you.