I realise that the title contains several assumptions that may very well be incorrect, in which case please do correct me. I also am very ill informed in the field of child development, and not making a claim that children witnessing (not experiencing) a sexual act in an early age may or may not be traumatising.
/u/AnnalsPornographie, formerly known as vertexoflife, has previously answered:
Read what /u/Muskwatch has to say about When did people start having sex in private?