YOU SAID:

finger me under the table while we are at dinner with my parents

INTO JAPANESE

私たちが両親と夕食を食べている間に、テーブルの下に指を入れてください

BACK INTO ENGLISH

Put your finger under the table while we have dinner with our parents

INTO JAPANESE

両親と夕食をとりながら、指をテーブルの下に置きます

BACK INTO ENGLISH

Place your finger under the table while having dinner with your parents

INTO JAPANESE

両親と夕食をとりながら、テーブルの下に指を置きます

BACK INTO ENGLISH

Place your finger under the table while having dinner with your parents