Parents maybe heard my boyfriend and I having sex??

I’m almost twenty years old, this is my first relationship, we’ve been dating for 4 months now,and I just don’t know what to do! So my boyfriend was over at my house ( I live with my parents) we don’t have much privacy at my house because I share a room with my sisters and the spare bedroom is right next to my parents room. So we waited till everyone was in bed to fool around and things were going well, but then after a little while we heard the dresser drawer in my parents room open and then it sounded like someone was walking down the hall towards us. Mind you, my parents are very religious and think that I’m still a virgin, and saving myself for marriage, so my boyfriend and I where scared shitless and still are that they heard us and are going to say something in the morning, because that’s a conversation that none of us want to have! I’m so scared that if they did hear something that they’re not going to let him come over anymore or, things are just gonna be REALLY awkward. Help!!