Is it wrong?

My husband and I have been on opposite shifts all month. So obviously no sex 😑we have a two year old son. I went in to wake up my husband(he works nights) and laid in bed with him and my son came in and laid with us too. My son left to get his blanket and my husband starts rubbing my boobs and I knew he wanted sex lol. So my son walks in with his blanket and my husband stops. My son gets distracted and starts playing with his toy in the tv room where we could see him. My husband and I have a quick minute to get the job done as if you have kids, you know they are nosy ;) so we did it without him noticing us. We have done it before. But does anyone else do this? I feel bad haha. I make sure our son is safe and not in danger obviously...