My story is probably a little different but I will share.
After divorcing and then escaping a 3 Yr abusive relationship with an alcoholic I found myself on my own with my 14yo son and 16yo daughter. Being on my own I decided to try dating, that was a fail but led to swinging which I liked more, that led to the BDSM world and all of that led to escorting.
All the way through this I kept an open dialogue with my kids, I brought them up to be open and understanding so would discuss life choices, our financial situation, questions about sex, the swinging and BDSM world etc my son is a dab hand at lacing a full bone corset
So when I hit a financial situation that meant it was food or rent I sat down with my kids who were then 21 and 23 and said I somehow needed to earn more money, my 21yo was at home my 23yo was living with her bf, so we discussed the options, I was already in a full time job which I loved so it needed to be flexible and fit round my free time.
I came up with 2 option (they knew I was a swinger btw) phone sex or escorting, now I'm absolutely useless at phone sex I just laugh or go blank so that wasn't an option, escorting it was, we talked about it between us obviously not the gory details but the pricing and how it would impact home life for my son etc and they both said go for it mum. So they have always known as they were part of the decision making process and they've absolutely fine with it, their thought are similar to mine, it's better they know what I do as it gives them the power and takes it away from those who would use the knowledge to try and hurt them.
My sisters know as do many of my closest friends, some of my work colleagues and my ex husband, my daughter and son have always told their partners as their attitude is that if they don't like it or have a bad attitude towards it then they are not the person for them..
I find that knowledge is power and with an open and honest conversation its possible to go forward and for your kids to understand and accept what you do, most fear comes from a lack of understanding and poor media coverage.