<human>: As per usual TIFUs, this did not happen today, albeit recently.

My girlfriend and I were hanging out on Friday, watching Scrubs because we had nothing else to do. We're not alone, but her grandparents are downstairs and she said there was no chance they'd come upstairs. So, essentially, we're alone. I decide to get a little frisky and eventually, I kiss her. One thing leads to another, and suddenly we're sucking faces and my hands are under her bra. I tell her we should probably take it to her bedroom because her living room has many windows, and she agrees: however, she's watching her puppy, and so we gotta keep her bedroom door slightly open so the dog doesn't interfere with our "passionate lovemaking". 

That door is where I fucked up.

Shirts are off, we're making out. I'm so entranced by her beautiful body and busy hitting a wonderful double that I didn't notice her grandmother, her *devoutly religious grandmother who believes in sex after marriage*, walk by to the laundry room, which is down the hall from my girlfriend's room. And since the door was slightly open, she most likely heard, maybe even saw, what we were doing. We only heard her cough, which caused us to rush and put our shirts back on, but by then it was too late. 

We got the silent confirmation that she had heard and/or seen on Easter, when my girlfriend's whole family treated me like one of their own- except for her grandmother, who either gave me death glares or ignored me entirely

My girlfriend thinks it's hilarious. I'm so sorry that I probably sent that poor old woman to confessional.

Can you condense the text into a few key points?
<bot>: Got to second base with my girlfriend, but her grandmother heard and possibly saw the whole thing. She now despises me.