I agree with Jeremy above, I can't count the number of times that I was caught, but just about everyone ... my Mom, my sister, her friends, my brother, his girlfriend, mom's friends. It was almost a joke in the house that if you needed me to remember to do a chore to have me write it on my penis as I would see it for sure many times in the day.
Being almost 7" (probably closer to 6.5") long at 13 years old and being maybe 110 pound in weight, it looked big on me and I got lots of comments and resulted in some memories to say the least.
Being caught is normal though so long as nobody overreacts to it.