She was taking a bath and King David decided to peek.....hellooooooo? So women should bathe with their clothes on? Go back and read the Scripture.
Your wife is not a child, she is an adult. She is responsible for herself. When your daughters become adults they will be responsible for themselves. You overreach. When they die they will give their own accounts of their decisions and their lives. Your opinion won't count.
I don't think the concept should really be that difficult. There can be more than one with an obligation and responsibility for each person. My wife has responsibility for herself, while I also have responsibility for her as the person in a position of authority. Children have their own consciences, and go to confession to confess their own sins, yet at the same time their parents also have responsibility for them. Parents will have to answer to God for the job they have done. Priests will be held accountable for their parishioners, although the parishioners have their own consciences as well. I will have to answer to God for the job I have done in upholding my authority and responsibility in my family. If my wife and children go to hell, then it will be on my conscience as well.