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Is it normal for my dog to be in my bed while I'm having sex with my wife? It doesn't bother me a lot for quickies, but when I'm giving her "the full show" (watch Seinfeld if you don't get it)...it kind of creeps me out.
It's normal that your dog wants to be in bed with you, period. You're part of his or her pack and the dog pack normally sleeps together.
the problem you're facing is that you probably got in the habit of letting the dog sleep in your bed. and the dog doesn't understand that you want "alone time" to make love to your wife, because dogs don't need privacy for that.
train your dog to sleep in a dog bed next to the bed.
it may not be what you want - you may want the dog OUT totally - but it'll be a start at least.
I guess it's normal, but I imagine it to be very awkward. Why don't you take him out of the room and let him back in when you've finished?
Kick him out of the room if it makes you uncomfortable. Probably makes him uncomfortable too...