Can't say I've had this problem but once.
That was my first time. I was so nervous I was literally shaking.
After that, we fucked in her house in the living room with her parents in their bedroom which is just down the hall from the living room.
She blew me in the same room while her parents where in the den and her brother was in his room which is adjacent to the living room.
Don't let getting caught worry you. If you start worrying about shyte like that, then you will get caught. Whatever you worry about tends to end up happening.
So just take everything with a stride and brush off any insecurities.
Trust me on this one. I used to be the most insecure person around. Now, hell, I'll whip out my cock just for show!
