Caught having sex !!!

So this is so embarrassing , but me my boyfriend his bestfriend and my bestfriend (which are dating) all spent the night at my boyfriends one night . And my bestfriend and his bestfriend left to go talk out some issues they had outside , late at night . So my BF and I thought it would be a good time to have sex before they came back which we thought was not going to be for a long time . I was on top of him with no blanket around me with just a shirt on , and his bestfriend walks in on us . Someone please make me feel better and tell me that something similar has happen to them