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Not sure, but according to my former Christian faith, God allowed incest at first when there wasn't much of anyone else around to mate with. After the population grew to a certain extent, it was no longer necessary and thus forbidden.
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You might be closer to the mark than you think given that I saw an interesting documentary which essentially said that in times when the human gene pool was bottle necked by disaster or whatnot, mating with close relatives became common, but that due to the restriction of diversity, it made such relations more potentially harmful for modern humans. At any rate, it's in the species' interest to spread the genes around and diversify. Whether it's legal or not, mating with a close relative without screening your genetics for potential hazards (a common practice) is irresponsible, especially if a history exists in your family of genetic disorders.