Parents having ual affection infront of kids legal?

hi im nineteen and my brother is 17 and we live in the same house as my perents still, anyway my dad constently watched and s to in our living room wear we have no point but to see the touch eachother infront of us like their private part they have s in our house and they constently force us to see them and there toys they talk bout having with themselves and other peaple and they talk bout it allll the time its been like this our hole lives and i dont care bout my self but my bro is a miner and were both frustraded is there something we can legaly do about it or is he stuck there for another year and i can honestly tell you were very mentaly scared