Children's Minister Tim Loughton MP said work was being done "to improve responses to all forms of child abuse".
The charities have requested a meeting with Mr Loughton to discuss the issue.
NAPAC, NSPCC, Action for Children and the Lucy Faithfull Foundation have written jointly to Mr Loughton saying they specifically want the issue of intra-familial child sexual abuse properly addressed.
They wrote: "All types of sexual abuse and exploitation are difficult for those who experience it to talk about, and preventative work is hampered because people do not want to think about it.