20 Year Old Daughter Watching Tv With Dad. Her Left

20 year old daughter watching tv with dad. Her left foot rests on his crotch while he rubs her feet. But then it's done and her foot is on his groin. I the mom go sit beside them and can't help biput notice and its uncomfortable. Or an I just uptight. After I sit right beside them for a few minutes my husband gets up and goes to bathroom. Daughter seemingly oblivious. Feels wrong.