Had a close call with my roommate back in college. He left for morning classes, so I thought I had the room to myself to take care of the morning woody. Shortly after I started, I heard the door opening so I quickly pull the edge of the blanket to cover myself up and pretend to be sleeping still. He forgot something and had to come back to get it. I was pretty sure the hardon was visible under the thin blanket, but since he was in a rush, maybe he didn't see it. Nothing was said.

A more recent one would be my dad. I was at his place for dinner; we had some wine so I decided to sleep over rather than driving back. Woke up the next morning and was horned, so got naked and started going at it. Just when I was in the middle of it, dad opened the bedroom door. Since I had no time to react and I was caught literally in the act. He quickly apologized for not knocking and said he brought me some towels for the shower and new briefs that I can change into and jokingly said, but I forgot the lubes. He left the things on the edge of the bed and then left. My face must have been all red. It was embarrassing to say the least.