Book “Wasailu Shia” (21/194), author Hurr al-Amili.
From Abdullah ibn Abi Yafur that Abu Abdullah (alaihi salam) been asked about man who had intercourse with slave girl from his slave girls, while in the house been someone who hear and see this. Imam said: No problem with that.
Majlisi authenticated report in Malazil Ahyar 13/407
Man and in the house for example his daughter, mother or any other respected relative. Imagine!