Wikipedia on the Little Mermaid 'incident':

Controversy arose regarding the artwork for the cover for the Classics VHS cassette when the film was first released on video when close examination of the artwork revealed an oddly shaped structure on the castle, closely resembling a penis.[46][47] Disney and the cover designer insist it was an accident, resulting from a late night rush job to finish the cover artwork. The questionable object does not appear on the cover of the second releasing of the movie.[46] A second allegation is that a clergyman is seen with an erection during a scene late in the film.[48][49][50] The clergyman is a short man, dressed in Bishop's clothing, and a small bulge is slightly noticeable in a few of the frames that are actually later shown to be the stubby-legged man's knees, but the image is small and is very difficult to distinguish. The combined incidents led an Arkansas woman to file suit against The Walt Disney Company in 1995, though she dropped the suit two months later

also The Rescuers:

On January 8, 1999, three days after the film's second release on home video, the Walt Disney Company announced a recall of about 3.4 million copies of the videotapes because there was an objectionable image in one of The Rescuers background cels.[24][25][26][27][28] The image in question is a blurry image of a topless woman that appears in two out of the film's more than 110,000 frames. The image appears twice in non-consecutive frames during the scene in which Miss Bianca and Bernard are flying on Orville's back through New York City. The two images could not be seen in ordinary viewing because the film runs too fast — at 30 frames per second on video.[29] In 1999, two days after the recall was announced, the London press site The Independent reported: A Disney spokeswoman said that the images in The Rescuers were placed in the film during production, but she declined to say what they were or who placed them... The company said the aim of the recall was to keep its promise to families that they can trust and rely on the Disney brand to provide the best in family entertainment.[30] The Rescuers video was reissued March 23, 1999 with the offending image edited out. On May 20, 2003, the film was released on DVD.