Should I have not done this in front of my younger friend?

i was 20 he was 16 or 17 at the time we are both males. it was a hot day we were sitting in the house playing with my dog i told him i am going to go get changed cause i was wearing jeans. I went down to my room got my jeans off and decided to stay in just my tshirt and underwear briefs (not boxer briefs) went back out to the living room and he didn't say anything about it. i stayed dressed like that for 2 hours or so