Hes a great husband (great in bed too, wink wink), you two have been married for a while.

Your parents were over. They were sitting on the dining table when Robert came back from work. You were cooking in the kitchen, he greeted your parents before walking in the kitchen

He starts kissing your neck, hugging you from behind, teasing you. "I missed you" he mumbles with a smile. You try to stop him, "My parents are outside!" You warn him, "I know so what! They wont notice, i promise." He smiles.