I saw my mom with my...

First I want to apologize for the incorrect English because I am not a native English speaker. I also don’t know if I’m in the right place but google brought me here. I was actually asking for advice and wanted to see if anyone else had a similar problem.
My name is Dan and I am 18 years old and finishing high school. I’m a great student and somehow fall into the nerd category because I mostly hang out with my best friends with whom I spend time playing games. Yes, we are gamers. My best friends are Filip and Stefan. We have known each other since kindergarten and together we attend primary school and are now finishing high school. We'll probably go to college together. Filip is similar to me, calm and withdrawn, while Stefan is different. He is popular in school, he has girls, he fights with dickheads and thanks to him everyone respects us and no one bullies us. Still, Stefan spends most of his time with us. We are truly inseparable friends.
I live with my mom. My dad died 5 years ago. My mom Eva is a scientist and works at a state institute, I can say that my mom is the best mom in the world. She is really cool. I don't remember even arguing between us. Once we were smoking marijuana in my room, she came in and figured out what we were doing. She didn't shout, she wasn't angry, but she explained to us that constantly smoking weed while playing games is not good, but is very harmful. She allowed us to smoke marijuana sometimes but if she saw that we are high on a daily basis she will tell their parents and they are not so liberal. They would certainly tell the professors and maybe the police. Since then we enjoy smoking weed really rarely.
In my life, everything was ok until 2 weeks ago when I was celebrating my eighteenth birthday. It was Saturday. Our apartment was full of relatives, neighbors, and grandparents. Grandpa brought his famous homemade wine and everyone soon became happy. Mom had her hands full and I was playing games in the room with my friends. We planned to play games all night.
Before midnight the guests left and I went to the kitchen for snacks. Mom cleaned and tidied up. She was tired and probably influenced by her grandfather's wine. She said she was done and could hardly wait to take a shower and sleep. I went back to the room and told my friends that everyone was gone and that we could smoke weed now. We opened the window and started smoking. Stefan started joking and reminded us that once Philip said he would pay a stripper for my eighteenth birthday. Philip replied - "Yes, you are right, she will come now". Of course, he was joking, but at that moment the door opened and my mom came into the room. We couldn’t help but laugh. It was obvious that she came out of the bathroom because she had a towel wrapped around her hair and was wearing a bathrobe as always after showering. As soon as she came in she said - "I just came to say that I'm going to sleep and not to be very loud but now I need 2 explanations. First. What did we agree on to smoke weed? Else. Why are you laughing at me? ” Filip and I suddenly became serious and Stefan, as always, started speaking on our behalf. "Well, you said that we can smoke sometimes, and now it's my birthday, so ... and this other ... heh ... We talked about having a stripper for his eighteenth birthday, and then you opened the door ...
Mom started laughing. She said - "You thought I was a stripper haha. 18-year-old boys certainly don't want a forty-year-old stripper. "
Stefan had a joint in his hand and asked my mom if she wanted to smoke with us. I thought to myself that Stefan was a real idiot. Mom replied that she had last smoked almost 20 years ago. She took the joint and sat down on a chair. We sat on the bed opposite her. She inhaled the first puff of smoke and began to cough. She said it hadn't been that strong before. In the second round, she inhaled a few puffs and started talking about how marijuana used to be healthy because it was naturally grown without chemicals. She talked and gestured with her hands. She was obviously high already. She didn't even notice that her coat had opened and that her tits were visible and the worst - her legs were not gathered and her bare crotch could be seen and she was still talking and waving her arms. I looked at Stefan and he stared at her. I wanted to give her some sign to cover up but she kept talking even though no one was listening. I looked back at her. Omg, everything was visible. Then I looked at Philip. He stared at her with an open mouth as if hypnotized. The joint in his hand went out and the ashes fell on the bed. I was very embarrassed. Fortunately, it didn't last long. Mom pulled herself together.
• "You guys don't listen to me at all!" - She said and then she realized that her coat had opened and that we were staring at her. She covered her tits and crotch. She blushed. She was obviously embarrassed. She just said - "Oh for God's sake" and left. We sat for a while. We didn't say anything and then Stefan started teasing Filip about his visible erection. Philip was embarrassed. Boner was visible. Philip decided to go home. I tried to persuade him to stay a little longer but I failed. Stefan said that he was definitely going to jerk off and that the two of us would continue gaming without him. He got up and said he was going to the toilet and while he was gone I had to wrap another joint. I made a joint and waited for about ten minutes. Stefan did not come. I waited a little longer and then left the room. I went to the bathroom and the kitchen. Stefan was not there. Returning to the room, I stopped in the hallway. I heard a sound. It was a moan. It could only be from my mother's room. I was sure it was the sound from the television but when I approached the door that sound sounded real. Then I thought she was masturbating but in an instant, I was drenched in a cold sweat. Omg, Stefan! My thoughts were confused. No, it's not possible that Stefan and my mom ... I wanted to go inside to know what was going on. I had already touched the doorknob but changed my mind. I decided to go to the balcony and peek inside. If only I hadn't. The shutter was not fully lowered. Enough to get some light from the street into the darkroom. I gathered my courage, bent down, and looked for a moment. The first thing I saw was a white male ass staring quickly and forcefully at another person lying on top of her. Then I closed my eyes and turned to face the street. I can’t describe the feelings that were in me. It was clear that it was Mom and Stefan but I still didn’t want to believe it, I needed other proof. I found a better position and looked again. Yes, Stefan was lying on my mom's. His head was on the pillow next to her head. She had her mouth open and her hands pressed against his ass. I knew penetration was happening. Her legs were slightly raised bent at the knee. Then a louder moan was heard and Stefan stopped moving. He was just lying to her. I gathered myself and returned to the room. I sat down on a chair. There was anger, disappointment, excitement in me ... a lot of mixed feelings. Then I heard the sound of the main door closing. I knew Stefan was leaving. I soon got the message. "Sorry buddy, I went home. Digestive problems, we talk... ” I didn't answer, I threw my cell phone on the bed. I didn't sleep that night. I was mad at them both. I turned on the computer and I guess with some reaction I opened Facebook and Instagram from Stefan's mother. To take revenge on him, I started jerking off to her pictures. That’s when I realized I had an erection the whole time. I managed to calm down. I have not yet decided what to do. My opinions are divided. For a moment I want to tell my mom that she is a whore and that I know everything but I can actually understand that she is a woman without a husband who has needs. I want to beat up Stefan and never talk to him again but I understand him because I would do the same with his mom if I had the chance. I know it's not easy for them either because of me. They can't look me in the eye. Should I let them know I know everything? Maybe it's better for my mother to pretend I don't know, but I'd like to hear the truth from Stefan about how it happened. What should I do?

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