I live with my husband and boyfriend. We've lived together for nearly 7 years. (bf clarified that this weekend).
We've been poly since September 25th of '09.
We go out ALL of the time. We take the kids out-we go on vacation, we go to the movies.
In fact we went to see Avatar 3D recently.
Hubby had his hand on my left thigh and bf had his hand on my right knee (he's more shy, hubby is NOT shy).
So yes-you can, you just have to decide to live YOUR life instead of pretending to live someone else's.