YOU SAID:

one time, your mom and dad started touching each other and then you popped out

INTO JAPANESE

一度、あなたのお母さんとお父さんがお互いに触れ始めてから飛び出した

BACK INTO ENGLISH

Once your mom and dad started touching each other, they jumped out

INTO JAPANESE

お母さんとお父さんがお互いに触れ始めたら、飛び出しました

BACK INTO ENGLISH

When mom and dad started touching each other, they jumped out

INTO JAPANESE

ママとパパがお互いに触れ始めたとき、彼らは飛び出した

BACK INTO ENGLISH

When mom and dad started touching each other, they jumped out