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Set a silent alarm so you remember to escape in time. Get them out of there. Erase the evidence.
If you fall asleep in your room, ensure that you've got an alarm set to rouse you both with plenty of time to escape. Make sure the alarm is vibration only, or quiet enough that it wouldn't disturb your parents. Get them out of there at least an hour before your parents would normally wake up. Consider also how visible they'll be in the morning light, and whether their own parents will wake up and notice their absence. If you can't trust yourself to wake up with an alarm, don't go to sleep. If you use a clock radio, use the radio and not the buzzer. Once the other person is out of the building, have them get out of sight as soon as possible. Seeing someone leave a house in the morning can be just as incriminating as seeing them come in at night. If you're caught, you might try to convince a parent that they were stopping by to ask for homework before school, but this is far from foolproof. Clean the room of any cans, bottles, wrappers, or loose clothes. Put trash from the night at the bottom of a trash can where it's less likely to be seen, and take out the trash tomorrow (but not first thing in the morning, if this is outside your normal routine). Flushing certain items may seem tempting, but you should refrain from doing so; a clogged toilet will draw far more attention than you can risk. Besides that, it's environmentally unsound.