Yes, but not by my parents, but by one of my children. It happened about 1 am. in the morning. My little daughter, who was 4 at the time, walked in while it was happening. Luckily, we had a thin white linen sheet covering the lower half our bodies, so it wasn’t that obvious, but we were totally unaware at the time because of the well, you know, the “disoriented” condition we were in. In my “lost state”, I didn’t hear my daughter open the door and walk in. She stood next to our bed, quiet as a mouse, then said “Daddy”. I was startled. We both were. But I don’t think my child knew what was going on, though to an adult it was very obvious.
It turned out my little daughter wanted a drink of water and couldn’t sleep, that’s all. But we didn’t go on after that. It kind of broke our concentration and lust, so to speak.