I have not watched them yet but a friend recommended the videos called "the safe side" to teach good and bad touch and stranger danger in a fun non threatening way. She said it also addresses the issue of family or friends and bad touch not just strangers. I have been meaning to get the videos for my 3 year old. She said her kids enjoyed watching them and learned a lot.
I would like to blame my phone for all the typos but in reality the poor thing is just trying to keep up with my crazy thumb typing while holding a baby.