Sex around a relative?

Have you ever done some sort of sexual activity with someone not a relative BUT there was a relative or relatives in the room or car or whatever with you?

Yes... I blew my BF while his sister was driving us to the movies. We were both in our teens, she was 20!! He and I were in the backseat and just started making out and things just went on from there. I think she knew, I mean she had to know. But she never said anything!! LOL!!
 
While on a road-trip in college my girlfriend, Miranda, and I had made a stopover to visit Aunt Cheryl. Aunt Cheryl is my mom’s youngest sister and has always been the cool aunt. She was recently divorced and living in a tiny apartment in Portland, OR.

Cheryl took us to a microbrewery and a hike to some waterfalls. After smoking some weed she took us to a dance club (cool aunt). More than once during the day I caught my aunt ogling Miranda. Cheryl made up one of those inflate-a-beds for us on the living room floor.

Miranda was creative in bed and always up for fun. As soon as Aunt Cheryl closed her bedroom door we started fooling around on that squeaky bed. About the time I was getting a blowjob we heard the bedroom door open. Cheryl walked past us in a white tank top and panties, “Don’t mind me, just need some water.” She took her sweet time to getting a glass, filling it, adding ice. Pausing to watch us she took a slow drink then refilled the glass.

Miranda did not slow down but more arch to her back and started her slow deep throat technique. Cheryl strolled back to her room but left her door ajar. Looking at the parted door kicked Miranda into exhibition mode. She climbed on top and rode me cowgirl. She put my hands on her tits told me to pull her nipples, too loud for just me to hear. Miranda really put on a show that night. During a break in our action I’m sure a heard a vibrator buzzing in Cheryl’s room.
 
While on holiday in NC USA, I was in a car with a couple and three children. We got stopped by the cops because of the seatbelt situation. So the cop decided to rearrange our seating so the kids had a seatbelt each. So we ended up with the hubby driving, one child in the front passenger seat. Two kids in the rear with seatbelts and myself and his wife in the middle. It was a bit of a squash, but he let us on our way. The kids were soon asleep. I had previous fun with the wife, but the hubby never knew. She was wearing a short dress. I slipped my hand down behind her and managed to slip my fingers into her pussy, she was soaking. I continued and without flinching, she cum on my hand.
 
My first sex encounter, my mate's parents and brother were home. After watching porn, he fucked me on the floor
 
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My ex's sister and I couldn't keep our hands, and mouths off each other. We kissed, groped and masturbated each other many times in whatever empty room was available when I visited. Once, we ate each other's holes and fucked on the family's living room floor while everyone slept upstairs. We made out and fucked on my front porch with my ex asleep a few rooms away.
 
As I'm reading these replies, I'm suddenly realizing how often I've had sex while friends or family were around. Many of these involve fooling around with my ex-wife's sister, but that's a relative so doesn't count for this thread. I've had sex with my wife with family around many times, which seems to be the common thing here.
 
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