My boyfriends dad walked in on us having sex should I just avoid him now?

Anonymous
My boyfriend of 2 years stays mostly at his dads... we were having sex and his dad walked in his room to ask something and then shut the door. Pretty sure he saw a lot so embarrassing does he hate me now. My boyfriend said it’s fine but now I just don’t want to say Hi anymore.
My boyfriends dad walked in on us having sex should I just avoid him now?
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