The Rescuers (1977) video was recalled on the 8th of January, 1999, because two frames contained pictures of a naked woman. Unlike other scandals within Disney movies, this one was confirmed by Disney themselves and has since been reissued without the offending frames.
Fantastic Fanatical Facts 
Did they explain how that got in there?
I’m not sure, actually. I don’t think Disney ever explained it, just that the illustrators responsible did it on purpose.