Incest received curious treatment in the penitentials. Penances were assessed for relations between mother and son, described by anthropologist Robin Fox as “rare or non-existent” in modern society, and between brother and sister, which he classifies as uncommon. “He who defile his mother shall do penance for 3 years with perpetual pilgrimage,” declared the 7th century Penitential of Cummean, while the Penitential of Theodore assessed either 15 years or 7 ears “with perpetual pilgrimage.” Theodore stipulated a like penance for brother-sister incest. And “if a mother imitates acts of fornication with her little son, she shall abstain from flesh for 3 years and fast one day in the week, that is, until vespers.” No mention is made of relations between father and daughter, categorized by Robin Fox as “easily the most common type.” Although Gregory’s History is a veritable catalogue of crimes, mostly sanguinary, only on one occasion does it seem to refer to incest: A certain petty Frankish king “was so sunk in debauchery that he could not even keep his hands off the women of his own family. He had an adviser called Farro who was given to the same filthy habits.” Gregory doesn’t specify whether the women were daughters or daughters-in-law. 
The shepherd Pierre Maury explained the incest taboo in terms of family intimacy. Mother and son, brother and sister, and first cousins were all people whose bodies in the ordinary course of affairs “touched,” and who were consequently forbidden to marry. But in Montaillou, sex between 2nd cousins, whose bodies were unlikely to touch, was permissible. Another peasant expressed the view that to sleep with one’s mother, sister, or cousin was not a sin but was nonetheless shameful. He quoted a local proverb: “With a 2nd cousin, give her the works.”
[Incest] Luther also attacked the consanguinity restrictions that remained after the 4th Lateran Council, especially those relating to “spiritual” relatives, in respect to which some of the clergy had come to do a thriving business in dispensations. “Take as your spouse whomsoever you please, whether it be godparent, godchild, or the daughter or sister of a sponsor,” Luther bade his followers,” and disregard those artificial, money-seeking impediments.” It proved easier to criticize the existing rules than to redefine them. Luther himself read Leviticus 18 as barring only 12 kinds of relationships, but his follower Andreas Osiander thought several more were implied, and that the law of Moses and other considerations multiplied still further the network of forbidden martial or sexual connections. Osiander was also troubled by the spectacle in his native Nuremberg of people abusing the new liberty by carrying on notoriously incestuous relationships. 
Katy: of that matter I know nothing, but what mean you pray by Persons of Quality?
Frank: Oh, there is the cream of the test, they are young Gentlemen that fly at all game, (London is full of them) neither maid, Wife, or Widow can escape them, provided they be tolerable handsome, and that their faces (according to the Proverb) will make sauce for their Arses. Neither want these young sparks imployment, for the Town is never empty of these kind fucking females; generally both sexes fuck, and that so promiscuously as Incest is accounted no sin, for they put it of with a test, saying it makes the top of their prick redder, if they dip it in their own blood. 
Kicked Out of Heaven Vol. I
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Fox News: Wisconsin brothers accused of years-long sexual abuse of siblings; father blamed ‘raging hormones’.