Before the last two posts pointing out the context, I got lost in the myriad of wordiness beforehand.(which I liked).
Quote Originally Posted by TexasMark
It might have been similar if a human parent had caught his daughter in the act of kicking the sofa
So, missing the context, I thought this phrase was just another of the millions of sexual connotations out there.ie. the parents caught their daughter on her back, having sex.