co-sleeping and "mommy and daddy" time

Shiara • Im an 18 year old FTM, engaged to the love of my life, the beautiful man who gave me my perfect little son 😍 15/18/16💙
So i want to start off by saying that we have a basinet in our room, and a crib in his room. And i was 100% against cosleeping.. Until it was 6am and he would NOT sleep in his basinet. My arms were going tingly and i hadnt slept in almost three days. It wasnt safe for me to be awake any longer, so i broke.. We sleep with he baby inbetween us, with a big breastfeeding pillow around him.
So my question is for mommies and daddies who cosleep.. What do you do when you want to be intimate?? We had an situation lastnight where we moved the baby over as much as possible and did "stuff." (1 week PP) i feel horrible and disgusted about it soo.. how do we do this?! :P
No bashing!!