Caught in the Act Again

I thought I was being careful this time, but apparently not careful enough. My partner and I have been open for a while now, but it always hits me differently when I'm with someone else and my main squeezes walk in on us. We were at a motel for the weekend, trying to keep things under wraps, yet here we are again with them barging through the door just as I was about to give Jack one of those full-body massages he loves so much. It's not like it’s the first time; it’s just this weird blend of excitement and guilt that comes up each time they catch us in a compromising position. Why does it still feel wrong when we all agreed from the start?