Help please! I woke up and found my father in law in bed with me, husband video taping us!!?

When I went to sleep last night I was laying next to my husband is our nice beautiful king sized bed. When I woke up this morning I felt very strange. All of my clothes were off and my body was being maged by cold hands that didn't feel like my husband's. When I turned over to see what was going on my father in law was the one who was in bed with me!! He was maging my naked body and he was naked as well. What makes it even worst is that my husband was standing over in the corner video taping the entire incident. I was mortified. I slapped my father in law, covered my naked body and demanded to know what was going on. My father in law told me that I looked so peaceful resting, that he wanted to give me a mage to make sure I was even more relaxed. I started yelling and screaming and demanded that they both get out of the house. My husband told me that I was acting like a fool. He said that this is normal behavior and that fathers and son's do this all the time????