Rarely, but it has happened. Usually it involves something not going right, like spilling coffee all over the counter when in a rush out the door, or something like that. And it is usually a "sh&!" muttered under the breath. Husband seems to have those kinds of moments more often than I do, though... probably because he is on his way to work and if I spill on myself, well... I'm not on my way to work, ya know? That work thing kinda adds to the stress of it all.
Generally though, we don't cuss. A few slip when the NFL team husband likes does something really stupid or just horribly inept. We also don't use the "sailor" style cussing. F bombs don't happen when the kids are around. And it takes a serious amount of anger for one of us to drop one of those anyway. Not a football game or spilled coffee. And we have never used the "c" word or "d*ck". Just not our style.
When our kids were really little, we didn't use ANY around them. Now that they are older (11 & 14)... yeah.. they hear much worse at school, I'm sure. But we still try not to make it habitual. Our kids got corrected for saying "stupid" when they were little, and still stay away from that word. So, no.. they have NEVER used a cuss word in our presence. Have never heard of them using them anywhere else, either. So discipline for it is a non-issue.