My dad raised me alone and he used to bathe me up until I was about 6. It's never bothered me, we didnt have a lock on the bathroom door either so we cud come and go as we pleased. Nothing wrong in bathing your children but maybe ask them if at bath time they want to have a bath alone or if they want you to be there. That way your getting an honest opinion and you'll know when they want you to give them privacy. Just my little idea.