I'm so scared I might lose my boyfriend because of a mistake......

I (26f) and my boyfriend (25m) have been dating for almost four years. About 3 years ago, we started exploring sexually, as you'd expect most couples do. We've had to be very careful because we both still live at home.

Tonight was no different than most visits to his house (where he lives with his family). Whenever we do things like this, we're always listening/watching and being aware of our surroundings. We were in the middle of exploring tonight when we heard his dad come down the stairs.

Tonight, I was wearing a dress with dark-colored shorts/underwear underneath it. I wear shorts under my dresses for certain reasons. Well, the minute we heard his dad, I was rather quick to pull up my underwear and shorts and knelt down to grab my phone.

I hadn't pulled down my dress, so when his dad came in, he must have seen my shorts and assumed the worst. He got mad at us (mostly my boyfriend) and during the ride back to my house, he gave us the silent treatment.

My boyfriend believes he knows what was going on and his worst fear (and mine) is that his dad will break us up.

We've known the risks for a while but we'd always been so careful and never got caught. This is the most nervous I've ever felt in my life.....