Here the idiom "uncover the nakedness" means "disgrace." Alternate translation: "Do not disgrace your father" or "Do not shame shame your father" (See: [[rc://en/ta/man/jit/figs-idiom]])
Here the idiom "uncover the nakedness" of someone means "have sexual relations" with someone. See how you translated this idiom in [Leviticus 18:6](../18/06.md). Alternate translation: "by having sexual relations with your mother ... you must not have sexual relations with her" (See: [[rc://en/ta/man/jit/figs-idiom]])