My wife (46) and I (48) have twin daughters (20) who're growing into beautiful, successful young women and we're very proud of them. In this story I'll call them Amy and Becky. We live in a college town and as they are both very good students they were admitted on partial scholarships to the local university. Because room and board are so very expensive there we decided as a family that they should stay at home and as compensation we would pay the remainder of their tuition. Also that we'd save the money we'd have otherwise spent on room and board and share it with them when they graduate.
One day two years ago, just after they'd finished high school, my wife and I hopped into the car to do some grocery shopping and left them lounging by the pool with a couple beers. (We've allowed them to drink responsibly at home since they were 16. To the best of our knowledge, they've never abused alcohol, so we won!) About halfway to the supermarket we realized that we'd forgotten our shopping list and, so, we returned home about 15 minutes after we left. I ran into the house to get the list and, to my very great surprise, saw Amy writhing naked on the sofa with Becky's head buried in her sister's crotch.
I couldn't help but stare for a second. When Amy saw me looking she was horrified. I averted my eyes, grabbed the list, and went back to the car. Driving away, I told my wife what was happening in the house; we decided to figure it out while we did our shopping. By the time we got home we only knew one thing - that we could not shame them in any way. Both twins were sitting at the patio table, fully clothed, looking very pensive. I put away the groceries and went to the garage, pretending to be busy while my wife went out to talk with them. She said plainly that we weren't angry, that it was natural for young people to explore their bodies and their sexuality, that there was no shame in it. I'm not privy to the whole conversation but by the time I came back into the house the twins were fine. I simply smiled at them and told them I "saw" but wasn't "watching", that they'll always be my little girls and asked if we could just let it go. Both of them stood up, gave me a hug and that was that.