Been there, done that. 
Except it was a night bus, which dropped me off quite far from home and I didnāt make it. Had to walk home in freezing cold weather with wet jeans. Not fun.
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When I first moved from home, I was renting a room in a shared house. Didnāt lock the door unless I was out. Was having very rough doggy with a boyfriend, with the lights off, when the door opened and a silhouette of a person was standing there getting an eye full. I panicked and shouted at them to āF*** offā, which they did. I never found out which one it was, but thinking back, they were probably checking to make sure I wasnāt being murdered. Felt awkward seeing them after. Not as embarrassing as your mum walking in though. I would have died!
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When my wife and I were still dating, we decided to watch the Godfather trilogy. I donāt know if it was boredom or the breeze and sunshine but we started getting reeeeaaalll busy. Now, at this time my parents were working to move out of the house we were in so we could rent it from them. My mother must not have heard and did not mind the very closed door because the look on her face as she swung the door open to see my pale butt and my wife on all foursā¦ she just shouted āDINNERS HEREā and slammed the door. My poor motherā¦ 
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Went into a well known high street adult store some years back to buy condoms. They had a huge collection.
A female shop assistant cam up and asked if she could help with anything. I asked if they had different sized condoms. She then showed me the larger ones saying āthese ones are best for larger guysā.
I went bright red and said āactually I need smaller onesā. She also went bright red and showed me the smaller ones. 
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Probably about 20 years ago while dating my now wife, I stopped over at her mums house at the weekends. My GF was working all day and was lying in bed and started to feel horny. Next thing Iām lying in bed wanking my cock and just at the point of no return my gf mum came into the room with a cup of tea. It all happened so quickly and seen me come all over my chest. She popped the cup of tea next to me and came back with a toilet roll to wipe myself clean 
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My OH and me were away for the weekend for a family gathering and we decided to go for a walk around the town. We were walking down the high street and saw an sex shop. We went in with the intention of just browsing, but ended up buying some lube. When we got to the counter the, lets say elder assistant asked if we were interested in a pebble massager that was on offer, we said we might be, and she went on to describe how lovely it felt and that she was glad she had bought one. I can only say I was a little put back by her honestly, but it was quite a surprise.
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I was in college and had my gf over (my roommates time to be way). She loved to be eaten out before regular intercourse. Iām big and she was really tight and try as I could it took a Herculean task to last more than more than orgasm from her. After her second orgasm (I remember this distinctly because of the incessant knocking on the door) I threw on some shorts and answered the door. I had to sign for a package and the guy was looking at me strangely. When I went upstairs my gf laughed at me. I had a beginning of a beard and when I looked in the mirror my face and beard were soaked from me diving down between her legs. We laughed so hard our sex time was over with until that nightā¦
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when me and my wife first got together i offered to let her have a threesome (MMF). She was horrified and wasnt keen at all. I wasnt and still am not actually interested in sharing her with another man but i had just come out of my first long term relationship in which my ex gf used to be quite abusive. She used to verbally bully and put me down and made clear she found me boring in bed. She cheated on me lots of times and many times throughout that relationship she asked me to let her have MMF threesomes and stuff but i never wanted to do stuff like that. When me and my current wife very first got together my self esteem was so low that i really didnt want her to think i was boring in bed and thought maybe all women would be into such things. It took along time with my wife for my confidence to be rebuilt (iām still very insecure at times though). Weāve been together 14 years and have a fantastic relationship and sex life but iāve never spoken to her about that very early encounter. Never told her my reasoning for it so she probably thought i was into it. Still find it embarrassing and this is first time since then iāve ever shared that with anyone
Another less depressing embarrassing thing that happened was during one of mine and my wifeās early sex sessions (i was living with my parents and my GF (now wife) was staying over). My mother walked in. I was stark bollock naked and my mrs just had a tshirt on which she oulled down as far as she could. Iāve never forgotten the way my mum froze in the doorway in a state of panic. The next time i spoke with her she just very awkwardly told me to be more discreet in the future. I was mortified but still thought she was wrong to walk into my bedroom without knocking whilst knowing i had a girl in my room
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You will be pleased to hear that not all women want a mfm or mmf threesome.
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Yes i know now. I was with my ex from 15-20 years old so its the only relationship i had ever known. She was an absolutely foul human being who treated me like dirt but being my first āloveā i thought thats how things were. She knew how to hurt me like no other but also knew how to manipulate me into keep going back for more. Now iām 35 i have the wisdom and hindsight that if someone treated me like that again iād just tell them to fuck off but for whatever reason i just stuck around for all them years taking the bullying and abuse and cheating and believing her when she said it was my fault and i was to blame for her actions
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A few years ago, my wife got home a few mins after Iād been anally masturbating. She didnāt know about my kink at this stage.
I wasnāt expecting her home, so my setup was still in place. My dildo suction cupped to a flat surface sitting on the bed, the lube on the bedside table. I was in the bathroom when I heard the door opening. I tried to clean myself up and put on clothes and hide the evidence before she could see, but it was too late.
An ex had pegged me in the past, but noone ever knew that I regularly used a dildo on myself. My wife didnāt say anything about it, but I was really embarrassed.
In the end it wasnāt all bad, it was a gateway to opening up discussions with her. We now engage in pegging and she knows that itās my preferred way to masturbate.
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Working from home has allowed for a little more time to watch porn on my phone and I was happily previewing a sexy video (not masturbating thankfully) when my manager called - the call blocks any sound on the phone and I answered it on my laptop and was just about to unmute my mic when the video sound suddenly returned as the lady on the video was reaching her climax and I had to scramble to turn it off - I think I looked a bit flustered on the call!!
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@user1555 bless you there are some truly awful people out there. I didnāt know what boundaries were before my ex, now I know my worth and Iām out at the first signs of abuse. Iām glad to hear youāve found your happy ever after 
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I forgot about this thread but Iām currently nursing a torn bicep from trying to ride my husband last week 
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One time with my wife, I was going down on her when she said she needed to fart. Thinking she could hold it in I continuedā¦ I thought wrong
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This is more of a could have been embarrassing one that we got away with.
We were staying at his step-brothers, snd it was our early days on sense play. I wanted to face sit my husband and control other sensory input.
So, he lay face on the bed, head by the foot. He had ear plugs in and was covered (as was the whole bed) in a thick quilt.
I pulled the quilt off his face, lifted up my long skirt (no panties obviously), face sat him, and arranged the skirt flared out around me to block out the light.
As I was heading near to orgasm number one, she barged in and asked if Iād seen my husband. Trying to sound as calm as possible, I told her I hadnāt seen him for ages and she asked me to ask him to find her when I next see him. As she left, I had to ask her to come back and close the door, as I was about to cum quite hard.
I sat there for three more orgasms before I got off and told him what happened. Clearly, she couldnāt see him, and lucky for us, really.
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Could have turned hot if heād have known and given you a wink 
With an ex that didnāt know about my ass play kink, Iād had her built up quite good already, she had already cum twice during the foreplay and now it was time for penetration and my turn to finish and I was in the mood to finish strong, with her distracted by the moment I reached back and took the plug that had been in her ass and eased it into my own, it slipped in easily as my ass gets a little hungry when Iām feeling kinky. And as it slipped all the way in I started to fuck her harder and faster until I came inside her, after a moment while we both collected ourselves I pulled up and slipped out and as I went upright on my knees above her the plug visibly slipped from my ass as she watched between my open legs, I saw her eyes follow it as it fell to the bed. That was how she found out.
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Whats a babydoll?