Contrary to Ark's beliefs, Ephine wasn't bothered by the fact that she was naked. Just like her son, she wasn't able to see something wrong with it. Ark was awkward to say the least, this situation wasn't something he ever expected to experience. Since she had no idea how she was supposed to get dressed herself, Ark had to help her thoroughly, which was a new experience for him.
He was a little excited at the prospect of them being so close, but he quickly calmed down. A minute or so later, all three of them were dressed, and they were indistinguishable to other humans. At least if you only looked at the surface. Considering how they acted, it would be hard for anyone to not be suspicious of them. Fortunately for them, these new bodies came with some basic memories of how to operate them, and so, they didn't need to figure out how to walk and so forth.