Has your child ever embarassed you in a way thats funny now but was just plain mortifying at the time?

My oldest son is autistic and he runs away. He goes into the neighbor's houses sometimes, other times he runs straight down the road. I live with the keys on a chain around my neck but sometimes I forget to put them back on. When I realise he's gone I have to run out and get him back. Once I ran all the way down the road in my nightgown. A sheer nightgown. Running scared is fine. But then you get him and you have to walk back. Slowly. And he was in his underwear. It was on backwards. Talk about your walk of shame.