Parental Trust 😔

Okay so me and my boyfriend have been dating for 4 months now and let's say that our relationship hasn't been easy because my parents don't like him cause he's older then me. And plus our relationship just like any another relationship we would have sex. And so on the beginning it was a big deal with my mom because she didn't like that I would do that and. Specially hiding from her. So later on in our relationship he started sleeping over and so some nights we would do it with my mom in the other room. I know so disrespectful😔. So when she found out about that (cause she could hear us) she said that she dosent like what I've been doing lately that I'm just being disrespectful and breaking her trust. So after that I told my self that I needed a break from all of this sex drama and just try and make my mom happy and my self happy because I don't like when she's upset and most specially with me .so last night after work my mom told me she was going out and she asked me if My boyfriend can pick me up from work. And so He did we went and ate out but then we came to the house and how it's been so long I guess we both just couldn't keep our hands .So when my mom found out that we had sex she said that she didn't trust me or believe me no more. Because when she would get to the house all the lights were off and I would tell her that we were just cuddling. So I don't know what to do😔 like I'm gonna stop having sex in the house cause honestly I don't want to hurt her no more. But I just don't know what to do with my mom like she's my only actual parent I have and I feel like a failure of a daughter. So I honestly don't know what to do.