The Literal Commandment
None of you shall approach any blood relative of his to uncover nakedness; I am the LORD." (Leviticus 18:6)
The literal commandment is that a person must not approach any "blood relative" to uncover their nakedness.
"To uncover the nakedness of" is a Biblical idiom for "having sexual relations with".
Messiah Says
Messiah implicitly affirmed this commandment when He spoke about the Law:
"Do not think that I came to abolish the Law or the Prophets; I did not come to abolish but to fulfill. For truly I say to you, until heaven and earth pass away, not the smallest letter or stroke shall pass from the Law until all is accomplished. Whoever then annuls one of the least of these commandments, and teaches others to do the same, shall be called least in the kingdom of heaven; but whoever keeps and teaches them, he shall be called great in the kingdom of heaven. (Matthew 5:17-19)
Pictures of Messiah
Just like there are certain animals that were not created to be eaten, there are certain circumstances in which sexual intimacy is not permitted, whether it is because of who that person is (for example, your brother or sister) or the status that person is in (a wife who is ritually impure). G-d is a G-d of order and we are not to violate the order He puts in place.
In a similar fashion, there is an appointed time for salvation in Messiah. There is no other human being who is intended for the purpose of salvation. There is also no time we can force someone into salvation. G-d has appointed a time for the salvation of every person who will be saved in Messiah.
How Messiah Fulfilled
Messiah fulfilled this commandment by not approaching any blood relative to uncover their nakedness.
Traditional Observance
In Hebrew, the command is not to approach a she'er [שׁאר] which is literally a term for swelling flesh. A person who is a blood relative or a woman in her menstrual period both fall into this category. That is the traditional observance of this commandment: do not approach a blood relative or a woman in her period to make pleasurable (i.e. sexual) contact with them. It is forbidden.
Other Notes
We are able to fulfill this commandment today and should not uncover the nakedness of our blood relatives (father, mother, brother, sister, aunt, uncle, etc) or a woman in her period.
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