I think one reason why incest is wrong is because of developmental reasons. In order to mature, you have to emotional detach yourself from your parents and your siblings, and bond with people outside of your family. If you carry on an incestuous relationship, I'd think you have a problem forming relationships with people who are not your immediate family.
And besides, it is disgusting. How could a parent look at his or her child and want to sleep with it? That's just plain fucked up.
As for sibling-incest, again, part of being human means to take a risk and bond with people outside your family.
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