Two And A Half Men (2003) - 4x13 - Don't Worry, Speed Racer

When Jake tells Charlie and Alan that he often overhears Judith and Herb having sex, it triggers a repressed memory for Charlie.

Jake, who has been overhearing Judith and Herb from his room, comes up with a theory as to why his mom constantly gives her fianc directions in bed. Rose helps Charlie work through a disturbing repressed memory about his mother.