Is Dokidoki Oyako Lesson: Oshiete H na Obenkyou hentai?
Yes
Rated Rx (Hentai) on MyAnimeList.

OVA · 2007 · 2 episodes · Rx - Hentai
Hentai
Based on the hentai game by Tinker Bell. Shio Atsushi is a professor who will provide home class to two daughters of different families: Arisa and Maya. But it seems this won't be only educational purpose since the two girls show interest to that man.
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