Yup. Lets destroy a couple of cites.
Lot escapes with his daughters, his wife is turned to salt, then this :
Gen 19:30-38 And Lot goes up out of Zoar, and dwells in the mountain, and his two daughters with him, for he has been afraid of dwelling in Zoar, and he dwells in a cave, he and his two daughters.
And the firstborn says to the younger, "Our father [is] old, and there is not a man in the earth to come in to us, as [is] the way of all the earth come, we cause our father to drink wine, and lie with him, and preserve a seed from our father."
And they cause their father to drink wine on that night; and the firstborn goes in and lies with her father, and he has not known in her lying down or in her rising up. And it comes to pass, on the next day, that the firstborn says to the younger, "Behold, I have lain with my father last night: we also cause him to drink wine tonight, then go in, lie with him, and we preserve a seed from our father."
And they cause their father to drink wine on that night also, and the younger rises and lies with him, and he has not known in her lying down or in her rising up.
And the two daughters of Lot conceive from their father, and the firstborn bears a son and calls his name Moab: he [is] father of Moab to this day.
As for the younger, she has also born a son and calls his name Ben-Ammi: he [is] father of the sons of Ammon to this day. (LSV)
So the Bible here is saying incest is fine. So long as he is drunk.