My best friend shares her bed with her dad

my best friend is a 28 year old woman whose parents are lazy and dysfunctional, they had brought her up until 17 yrs old in an very verbally abusive household until she gained emancipation. Immediately she got hooked up with a very abusive and neglectful man who got her pregnant by 20 and again 23, and of course abandoned her completely. On her own she began to straighten out, found a job, got an apartment, raise her children with little help from m&d and go to college. In the meantime her parents lost everything and eventually moved in with her supposedly temporarily. Two years later they are still there.Now all five live in a two bedroom apartment.The parents pay nothing towards financial assistance and claim that their babysitting is sufficient help. Dad collects SSI and claims brain injury from a very old accident. He is now 70 years old. My problem is I recently found out that while Mom is away at church (she is a religious fanatic) or staying at a younger daughters house (which happens more often then less these days),my bfriend is sharing her bed with her Dad.She works nights, sleeps during the day when not in school He is always claiming to be sick and lays around most of the day and stays up at night and literally does nothing. He won't even clean up for himself.When my bfriend is trying to sleep her dad almost always comes in and shares her bed, instead of using the kids room.She says nothing is going on. My Bfriend does not know how to tell him to get out, and plays it down, as feeling guilty because he is not feeling well. I see this as a sort of emotional incest abuse by her father, who used to objectify her with some very inappropriate comments, to others because of her beauty when she was younger.Something is just not right with this picture or is it normal, or am I overreacting?