I have NC in case any older posts are recognised and linked to this. I know this sounds off but I promise you it's genuine.
Our DD (6) came into our bed in the early hours before DH came to bed, youngest was also in our bed too. DH came and due to the massive size of our bed, he sleeps at the end if this happens as he has more than enough room.
Anyway this morning our 6 year old was up for ages, running back and forth to their room with toys and playing on the bed from 6am (although possibly earlier). I was exhausted from being up with our baby for some of the night so I was answering her every now and again but knew where she was. After a little while, I sat up and saw DH had everything hanging out, he had his own covers which were slightly off of him and it was visible. I covered DH over and woke him up to chat with him while DD got some things from her room. Neither of us know what to say, he was very clearly embarrassed and said he may have hand his hand under the waistband because they're an uncomfortable pair and just rolled over.
How would you approach this situation? We're not 100% sure she saw but I don't see how she couldn't have.