Sex while children are around

sometimes it just happens, how do you have sex while your children are awake? quickly go to your workbench (bed haha) and close the door? do it in the kitchen while there playing outside or in the playroom or wait till there asleep? my partner is always dragging me to the bedroom and I feel bad as I always like to give my 100% all to our daughter but hate making him upset. how do you do this?