There are ways but it's easier if you start with a bathroom in a semi private area such as a public single person bathroom that is not as crowded

I decided to wet the bed one night, I was only going to pee a little,  but once I started I could stop! Soaked the bed ! I didn't mind I went back to sleep,  but when my wife woke up and was wet and asked if I pissed in the bed and there was no denying it! Then she stripped the bed and told me if I did it again she'd beat me!!  

Haha did that too! Pissed all over a magazine and it got everywhere lol😇

Its very exciting doing such naughty pees! Feels very good.. 

I have, but I did feel a little ashamed after doing it. But it was exciting doing it! Wondering if someone would come in while I was doing it! But it also felt liberating!!