Caught one time, but I wanted to be caught. Came after a lot of fooling around in a swimming pool; months of growing sexual intensity between us and I decided to push the moment by dropping my pants and grabbling my cock (while she was in the bathroom). Could have been incredibly embarrassing, but went great -- kicking off an intense nine-year affair.
I was having an affair with a lovely married lady many years ago. She had to arrange babysitters so meeting was difficult. One dark evening we were together on the back seat of my car and going at it full on. Both of us were nearly naked as we were in a secluded forest car park. Suddenly a torchlight shone into the car. I was about to shout at the person when I realised it was a policewoman. She just laughed and told us to carry on. Sadly my lady never seemed keen on doing it in the car after that!