She does comply

Reluctantly, Lydia took her steel armor off followed by her gauntlets and then her boots. She was left standing in her underwear and bra. She then handed the armor to Dovahkiin and he smiled. “Thank you, Lydia,” he said. “You’re very pretty.”

“T-thank you,” Lydia said. “N-now can you give me something to wear?”

“No, but you can finish taking off your armor,” Dovah said.

“But I have nothing left,” Lydia said.

“Your underwear and bra, Lydia,” Dovah said. “Give me the last of which protects you. Give them to me now or I’ll have to use force.”

Lydia sighed and pulled her underwear down to reveal a rather hairy brown bush. Lydia blushed as she then pulled her bra off to reveal her luscious tits dotted by her pink nipples at the end. “Okay, now what?” She said as she handed Dovahkiin the last of her clothes.

“Now we go out,” Dovahkiin said. “Come on, Lydia, let’s continue our questing.”

“W-what? Where are we going?” Lydia said. “Please, Dovah. Don’t make me follow you like this!”

“You’ll see,” Dovahkiin said. “No whining while we walk.”

“O-okay,” Lydia said as she reluctantly followed Dovahkiin out of the house.