Mine is a family drama with comical edges. My most embarrassing happened at home. We were caught by our first son who was about 3yo at the time. My wife was collared and gagged (ball type) and I was full naked behind her, deep into her ass. I always locked the door, but as Murphy's law stipulated, that same day I didn't lock it and he woke up and opened the door of the our bedroom. His innocence didn't understand what was happening... As he was too short, he could open the handle by jumping and opening the door at once, so we didn't have time to react or hide...

I tried to act naturally so as not to scare him, my wife turned pronebone and pretended to be sleeping... horrible sensation. In the end, I think it was one of the most uncomfortable and embarrassing situations I've ever been through in my life. My erection disappeared instantly as she cried in shame covering her face on the bed... Today is funny but it was shameful for us.

Here's a tip for anyone who has or plans to have children. Never forget locking the door. Never!

Add note: we're exhibitionists. However, paradoxically it was an extremely shameful moment.