The best way to avoid these kinds of situations is to have ongoing conversations about sexual behaviors with your kids, Myers-Walls said. "It's important for parents to realize you don't have 'the talk' and you're done."

When children are around 2, parents can discuss body parts and the differences between boys and girls, she said. As children grow a bit older, parents can talk about private parts and when it's OK (and not OK) for kids to explore their bodies. In later years, kids will ask where babies come from; you don't have to talk about birth control and abortion, but you should answer their questions simply and directly, Myers-Walls said.

"(Sex) is very different than drugs and smoking -- you don't ever want them to do that," Myers-Walls said. "Being a sexual being is who we are."

There are warning signs that your child is participating in inappropriate behavior or is being abused, Seifert said. Every day, parents should be talking to their children about their day: what happened, who they hung out with, what they did. If topics come up the child should have no knowledge about, calmly ask more questions, she suggested.

Other signs include drastic changes in behavior, trouble sleeping, eating changes or anger issues, Seifert said.

"We want people to be aware so if they're in this situation they know what to do," she said. "Even if it is something that's unfortunate that's happened to your child, there is help out there."