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Have I failed as a parent

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I am so disappointed and ashamed of my 15 year old daughter...I feel I have a right to be disappointed, but not ashamed.Well last weekend she had her boyfriend over for dinner...my husband took him home.she went along...they had sex in the back of the mini-van while my husband was driving(it was after dark).we were shocked that she would do such a thing.we knew they were talking about having sex, but it was agreed upon that they would wait till she was atleast put on the pill.that didn't happen.now we think she may be pregnant.won't know for sure atleast a couple of weeks.How do I get over this feeling of being ashamed of her and wondering if she would do that with her dad right there,what won't she do?Have I failed in my parenting ability?I have always tried to teach both my girls right from wrong and to becareful.I just don't know what to do anymore, she seems to try and do everything she can to make me disappointed in her and to completely disobey our rules and trust in her.What have her father and I done to deserve such disrepect?