It's safe to say viewers weren't expecting things to get quite so frisky during the first episode of BBC1's Wanderlust.

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The drama stars Toni Collette as Joy, a relationship therapist whose own sex life with husband Alan (played by Steven Mackintosh) leaves everything to be desired – so the pair come to an arrangement.

Following a cringe-worthy encounter between the sheets, they decide to try an 'open marriage' and suffice to say that both Joy and Alan throw themselves into their new-found freedom.

Viewers took to Twitter to following some of the – ahem – raunchier scenes, and it seems that many were regretting their decision to watch the new series with their parents sitting at the other end of the family sofa.

https://youtu.be/7QvatznQX9g

"Not awkward at all watching Wanderlust with your Mum!" one viewer posted on Twitter.

https://twitter.com/SarahMegson/status/1037080577181188096?ref_src=twsrc%5Etfw%7Ctwcamp%5Etweetembed%7Ctwterm%5E1037080577181188096&ref_url=http%3A%2F%2Fwww.digitalspy.com%2Ftv%2Fnews%2Fa865476%2Fbbc-one-wanderlust-sex-scenes-twitter%2F

https://twitter.com/natashaajwynne/status/1037081381862563840?ref_src=twsrc%5Etfw%7Ctwcamp%5Etweetembed%7Ctwterm%5E1037081381862563840&ref_url=http%3A%2F%2Fwww.digitalspy.com%2Ftv%2Fnews%2Fa865476%2Fbbc-one-wanderlust-sex-scenes-twitter%2F

https://twitter.com/ShinnyShinyKey/status/1037072942830518272

https://twitter.com/pearsvns/status/1037079947293216768?ref_src=twsrc%5Etfw%7Ctwcamp%5Etweetembed%7Ctwterm%5E1037079947293216768&ref_url=http%3A%2F%2Fwww.digitalspy.com%2Ftv%2Fnews%2Fa865476%2Fbbc-one-wanderlust-sex-scenes-twitter%2F

Viewers also found themselves desperately reaching for the remote after some risqué scenes got a bit noisy.

https://twitter.com/SatOnMySofa/status/1037080050242396160?ref_src=twsrc%5Etfw%7Ctwcamp%5Etweetembed%7Ctwterm%5E1037080050242396160&ref_url=http%3A%2F%2Fwww.digitalspy.com%2Ftv%2Fnews%2Fa865476%2Fbbc-one-wanderlust-sex-scenes-twitter%2F

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The six-part series Wanderlust airs on Tuesdays at 9pm on BBC1

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