Lets say a healthy normal male has two normal #7 chromosomes (N N for normal). Both contain proper genes. His wife has one normal chromosome (N), and one with a mutation leading to cystic fibrosis (Mutant), but she is otherwise healthy. They have two children. During Meiosis the chormosomes split up resulting in sperm/eggs with one copy of this gene, which combine to give the child 2 copies. The children will either be (and which parent donated the chromosome in parenthesis):
Normal (father) Normal (mother)
Normal (father) Mutant (mother)
So there’s a 50% chance each child inherits the cystic fibrosis gene. Neither child actually has cystic fibrosis since they both have at least one good copy of the gene.
Now the following incest occurs, with results -
Brother + Sister:
Normal Normal + Normal Normal → Normal Normal (100%) child
Normal Mutant + Normal Normal → Normal Normal (50%) or Normal Mutant child (50%) (double this line in final stats)
Normal Mutant + Normal Mutant → Normal Normal (25%), Normal Mutant (50%), or Mutant Mutant (25%)
So overall there is a 1 in 16 chance their child will actually have cystic fibrosis (Mutant Mutant)
Father + Daughter:
Normal Normal + Normal Normal → Normal Normal child (100%)
Normal Normal + Normal Mutant → Normal Normal (50%) or Normal Mutant child (50%)
There is no chance the child will have cystic fibrosis but a 1 in 4 chance of being a carrier.
Mother + Son:
Normal Mutant (mother) + Normal Normal → Normal Normal (50%) or Normal Mutant child (50%)
Normal Mutant + Normal Mutant → Normal Normal (25%), Normal Mutant (50%), or Mutant Mutant (25%)
There is a 1 in 8 chance this child has cystic fibrosis, much higher than incest between brother/sister.
So it seems incest between the mutant carrier parent with the child results in a much higher chance of mutant children, at least in autosomal recessive diseases.
Quickly on dominant diseases:
Normal Normal father + Normal Mutant mother (has disease)
results in 50% normal normal child and 50% normal mutant child (with disease)
brother + sister → 56% normal 44% disease
dad + daughter → 75% normal 25% disease
mom + son → 62% normal 38% disease
So in this autosomal dominant case brother + sister incest is worst.
I’ll let someone else work out the X-linked diseases 
I’m unsure how many genetic disorders each of us carry, but multiply these numbers out by the thousands of inherited disorders and you’re more likely to have a few of these diseases pop up through incest than through sex ouside of the family. I’ve heard that animals in the wild will not mate with 2nd cousins or closer, presumably to reduce the occurance of disease.