Your post resurrected an old memory from HS when a friend of mine, who was helping his little brother clean the garage (friend was 16, bro was 13 or so) and my friend came across 2-3 photo's of his mom havng sex with another man on his parents bed. He believed the photos were taken when he was in elementary school.
When he realized someone else had to have shot the pictures, he knew it was his dad. It's one thing to discover a parent had an affair, its another to discover the other parent was a willing participant.
He got pretty screwed up internally. His whole outlook on women changed, he no longer respected his parents, and he got into drugs pretty bad. To this day he has never told his parents, nor his brother, of his discovery that day cleaning the garage. The bright side is, he made a turnaround after only a few years, became an overachiever, strives for perfect morality and has a PHD.
The irony is that it's certainly messed up what happened and he'll be conflicted internally forever, but he definitely took the positive road, and I wonder if his drive to succeed wasn't fueled by his disgust over the discovery of his parents "fun."
If you have kids and swing, I wouldn't bank on this story playing out the same if your kids make a similar discovery. If you're into swinging or were, destroy all evidence for your kids sake.