Here's my suggestions for an embarrassing and safe day. Plan a weekend at your dads, and when you get there, lay down some ground rules for the weekend.
1) when she enters the house, she will leave her clothes in the car and not get dressed until you leave
2) she has no privacy during this time and will keep all doors and curtains open
3) your dad can ask her to pose in any position (or he can move her into a position if some touching is ok)
4) she's only allowed to orgasm when you and your dad are both watching
5) invite your brother or other family friend on the second day to really freak her out as all the above rules would apply to them too
Whatever you do, I think one of the key elements is you taking control and making very, very sure she knows that. So don't tell her about the rules or plan you come up with until it's happening.
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