His parents heard us having sex

My bf doesn't usually get very horny, and so today when he was I took the opportunity. We'd had sex a couple times before, but both of us are always pretty silent (still new and still learning the ropes). Today though we tried a new position that drove me insane, I wasn't able to stay quiet. I was screaming and moaning so loudly, I asked him if he wanted to go back to our usual stuff so I could be quiet but he seemed pretty happy to have finally gotten a reaction that strong out of me so we continued. Needless to say his parents heard us (his room is right above the kitchen). I'm mortified now thinking back on it. His parents haven't said anything but I'm just embarrassed. My family is very sex positive so sometimes it takes me a bit to realize not all families will take it so lightly....any thoughts on the situation in general? Be worried, laugh it off? Advice?