sexxxx baby

me and my boyfriend have been dating for quite some time now. we have talked about having sex but his parents are extremely strict and mine are always home. we went to one of his family events this weekend and at dinner i would reach for something and sit back down and he would grab my butt. the whole night i wanted to shove home in a closet and have sex right then. anyways, any suggestions on what we could do? (his parents also have a tracker on his phone so they know were he is and cameras up on the outside of their house so his house is also a no)