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You're both soapy and naked when your kid lets herself in.
If you're comfortable doing it with the baby in the room, keep a crib or bassinet by the bed where you can move him when things heat up.
Sex with the kids around: What are the rules?
When your five-year-old walks in on you Scenario: You tuck the kids into bed and head back to your bedroom.
Description: You and your hubby are on the bed ogling the baby when it mutually occurs that perhaps you should be ogling at each other instead.