I'm looking for a scene from a time I watched but can't remember anymore.

The plot: A young man arrives at a house, and a mature woman (I don't remember exactly, maybe a teacher) greets him. I remember the woman bringing him a hot drink while they were on the couch. Then things develop. The woman is wearing a skirt, and they have doggy style on the couch without her skirt being removed. It was a production from a major company. I think it aired before 2016.