I know you don't want them to be caught, but making them think the risk of being caught would add to their humiliation.
For the mother, tell her to get up at 1am. She is to walk to her backyard naked, and then roll around in the grass for 60 seconds. She can then return inside, but for any mud/dirt that is on her, she must stand (still naked) at the kitchen sink and wash it off.
For the daughter, tell her to get up at 2am. She is crawl on all fours to the backyard, while naked, with a dildo in her mouth. Once she is in the backyard, she is to throw the dildo a few metres away, and then retrieve it with her mouth, just like a dog playing fetch.
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