[blacknomi]

Both meanings are similiar, referring to someone has sex with another person, especially someone you are not married to.

When I was a kid, my parents and I were under the same roof. I could remember that Mom, Dad and me share one bedroom. I have my own little bed. Does it make sense if I say to someone

"I used to sleep with mom and dad when I was young"

or

"My parents and me slept together when I was young."

Would it lead to any possible misunderstanding?