I used to get caught by mom a lot as a kid. Scared me to death, but also excited me. Before long I was setting it up for her to catch me. Nothing ever happened, but it was sure exciting, especially knowing she saw me cumming many times.
Now (I'm 60) I set it up for my sis in law to catch me. Been doing that for over 20 years lol. At first she acted all shocked and embarrassed, but she's long since figured out I do it on purpose. She's ok with it (and my peeping at her) as long as I don't try anything else. I think she likes the attention and sees it as harmless fun.
Now a days, when she catches me she just giggles, calls me a perv and keeps doing whatever she was already doing, while I keep on jacking off. She'll even stop and watch when she hears me cumming
Great fun!