Sleeping with mom and dads friend

I (22 m) took a weekend trip with parents and parents friend (49 f we’ll call her sue. 5’5”, 125 pounds, not to pretty but she has an amazing body) to a beach house in south Florida. On our third night there we went to a crab shack for dinner. Sue drank a little too much, and wanted to head back to the house, but my parents wanted to listen to the live band and drink more. I in turn offered to walk Sue back.

We left and she took my arm telling me she felt like she was going to fall. My arm was pressed against her breast, and I quickly realized how ** I was with this woman grabbing hold of me. We talked about random things on the way back to the house. When we arrived, Sue asked if I’d help her into bed. I followed her into her room. She dropped the sundress she was wearing inside her bedroom door, and walked into the bathroom and peed with the door open, keeping eye contact with me the whole time with a sly smile on her face. She stood up and wiped, then used a wet wipe on herself.

It was all I could do at this point to hide my ** from her. Sue walked back into the bedroom removing her bra, and letting her amazing C cup ** fall free. Her ** as hard as they could possibly be. She fell on the bed, and almost was instantly asleep. I threw a cover over her, and walked back out of the room. Returning to my own I jacked off thinking of Sue as I did ** harder than I had in a longtime.

The next morning I awoke, and my parents had already left for the beach. Sue was still asleep, so I made myself some breakfast and thought about the night before. When I looked up from my breakfast Sue was standing in the doorway with just a tank top and ** on. I’ll shorten this up as it’s going on forever. We had ** in the kitchen, the shower, her bed and my bed all before my parents got back, with both of us feigning hangovers.

Sue and I are now in a relationship and have been hiding it from my parents. So I’ll ask how should we go about telling them and thanking them for helping us find each other.