name this steamy movie scene

What is the movie where in one scene there is a mother father and daughter in the kitchen. The daughter is standing on a stool trying to get something from a top shelf/cupboard, the mother then tells the father to stand up and hold the daughters waist to make sure she does not fall off the stool. As he is holding the daughter she starts reaching higher and he begins to see up her skirt, meanwhile the mother gets behind the standing father and begins to take his robe off him. daughter sees what is going on and gets into it, turns into a sexual scene.

Please name the movie!

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