Sex and Co-sleeping.

Just in need of some advice. My 5 year-old step daughter usually sleeps with us. Last night her and her brother decided they were going to sleep upstairs in their rooms. I wake up this morning and I am in the mood so I start messing with my Husband. We start having sex still being quiet. It wasn't until after we were done that I look over and she must have crawled into bed with us at some point in the night. She was sleeping the entire time but I still feel weird for having sex when she was in bed with us. Has anyone else had to deal with this?