It happened to me yesterday, just wanted to know how others went about it.
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When was the last time your parents saw you naked?
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Never happened and never will.
I do no longer live at home and even if I was and I would hear suspicious noises coming from my parents' rooms, it would never come to my mind to infringe on their privacy. It is none of my business to snoop around, perv and to be a voyeur to see what they are doing.
They are in the privacy of their bedroom and it is none of my business to interfere or to enter when the door is closed.
If you have parents that lack the most basic acts of privacy, then of course, you will take the risk for perverts and voyeurs to witness something that they should not.
My sister has walked in on me naked, we basically just laughed it off.
Never had it happen