Sleepovers

So I'm 17 years old, turning 18 in about 6 months. My parents divorced when I was very young and remarried, giving me 2 sets of extremely strict parents. This is the first year in my life that I've been able to actually have independence (starting college, getting a job, etc) due to the tough rules and high expectations of my parents. Both my moms know that me and my boyfriend are sexually active and accept it, however since my boyfriend and I have been dating for several months, we really would like to spend the night at each other's house. Any advice on how to approach this? (UPDATE: I do live with my parents still and so does my boyfriend, but my boyfriend is a year and a half older than me)