Embarrassing sex moment

My boyfriend and I were having sex yesterday when we were hanging out in the basement at my house and in the middle of it I felt like I had to pee but I tried stopping it but then his penis popped out and I lost control for a min and got it on his penis, down my leg, and on the carpet (I think) I was so embarrassed even though that's what he's been waiting to happen for months... After this happened it smelled like pee in the basement and I had so much anxiety that my mom would come down and smell it too and wonder what happened especially since we aren't supposed to be doing that in the first place