When anybody says the word impossible, it is a clenched fist of threat in the face of a world of infinite truths. To wit:
Having one of your parents (I'm not saying which one...to protect the innocent) wake you up in the morning, simultaneously prompting the alarming realization that you are naked in bed with no covers to protect you, with your undies around your ankles, and a suspiciously open container of skin moisturiser next to the bed.
In conclusion: it is entirely possible. Just add adolescent sexual frustration, and a prodigious quantity of alcohol.
naturally...a friend told me this. really. oh fine, be like that.