Wifey and I typically reserve our hanky panky to the late night early morning hours when our kids are asleep in whole other section of the house.
Their grandmother comes and spends time with them on the weekends and occasionally takes them with her sometimes we'll get it when they leave with her too.
I remember I ran in on my parents one night after a bad dream, I could not have been more 5-7 years old at the time. I wasnt exactly sure what I seen then, and my mom was trying to explain it away, but it didn't mean anything to me then because I was just a kid.
Years later when I was older (probably in my adolescence) with a more mature mind and reflecting on certain things it hit me that mom and dad were fukking that night.