My mother once caught me masturbating in the bathroom. Door opened and there I was whacking off like mad on the can. I was usually at football practice or something that time of day, so she probably didn't know I was home yet.
On the other hand, she could just have been getting back at me for catching her and my Dad going at it one day. I'd come home early from school, heard some noises in their bedroom, opened the door, and there they were going at it. I backed out immediately. At the time, I couldn't make heads or tails of what I'd seen - Ma was on top, facing me, and Dad was facing the other way, feet upwards, towards the door. Years later, after my first wife introduced me to the practice, I figured out that they were 69-ing. At that age I wouldn't have believe people did such things. Even when my wife explained it to me, I was in a state of disbelief.
A few more stories about being caught in the act:
After getting out of the Navy, I roomed with a buddy of mine for about a year. For a month or so, I shacked up with a young chick who'd just turned 18 and run away from home. A couple weeks after she moved out, over a couple of beers my roommate confided that he'd cracked my bedroom door open a couple times while she and I were going at it. I thought it kind of hilarious at the time. Later on it was a huge turn on thinking about him watching us.
For financial reasons, my first wife and I lived with her parents when we first got married. Her 16-year-old brother used to drop into chat while we were still in bed on Saturday or Sunday mornings. Only two years apart in age, they'd been extremely close growing up. While we were talking away, my wife would play with me under the covers until I'd get rock hard, then slowly slip the covers back so he could get a good look. That really turned her on. We'd all pretend like nothing was going on. Making it hotter for some reason was that she'd once told me she'd seen him with morning wood a couple times and that he was very big, lots bigger than me.
A really weird story along these lines: I knew a guy who was legendary for his huge cock. Girls lined up in droves to get fucked by it. He used to whine constantly that they just wanted him for his big dick, that they never stuck around afterwards. I didn't want to tell him but he was right. He had the face of a dead manatee and the personality of a doorstop. He once told me that when he was a kid, he used to masturbate with his door open, for everyone to see. He had two sisters, one older and one younger. His father eventually told him to can it.