Father Naked Around Kids Is That A Crime?

Are there legal consequences when a father exposes himself around his 11 year old daughter multiple times after being told it makes her uncomfortable? Also present is 9 year old son.

Father says it's normal and mother says it's not. Father also insisted on showering daughter who is old enough to shower herself. Fought mother on this as well.

Going through divorce process. When asked by the custody judge if he has been naked around the kids he said no. He admitted to showering her but denied ever being naked in front of her. He lied.

Second question, if daughter speaks up during court appointed therapy about his exposing himself can father be charged with perjury? Do most judges even do that?

Edit: this is in Texas if that makes any difference.