The example given was of a father and a daughter. Brother/sister incest is a huge taboo almost universally (special cases being royal lines, etc) which does not need to be taught. Fear of same-sex partners is learned.
genetically, since my brothers are adopted, i could marry & have progeny by them w/o the fear of any genetic issues barring those that would arise w/any non-blood relation... but culturally, it's taboo.
religiously [unless i'm forgetting something] there is no Biblical taboo regarding incest - there are several Biblical couples who were siblings, & others who were cousins.