i have taped myself and my ex-wife while having sex and it was great! A tripod does work ok, but you don't have a variety of angles to choose from. she also worried about her family seeing it, but once we split up, i threw the tape away.
I think if it feels good do it. I like having my exploits on tape, its a good way to critique your love making skills.

If anyone needs a camerman to film them, give me a ring.