A bunch of my friends went camping one weekend last year at a small campground several hours away. My spice (I'm polyamorous and living in a female-female-male triad) and my girlfriend were on the trip.
Saturday night my spice decided that one would sleep in the car with the dog and the other would sleep in the tent with the kids. I was to sleep with my girlfriend in her tent. The spice went to bed; my girlfriend and I were up for a while with our other friends and then went to bed.
The tent she was sleeping in was a large one with three 'bedrooms' separated by thin nylon zippered divider walls. She had a queen-sized air mattress in her alcove, and another couple was sleeping on the other side of the tent and another woman in the back room of the tent.
We cuddled and fondled each other on the air mattress. We kept very quiet, not wanting to disturb the other sleepers, which is especially difficult for my girlfriend, since she is very vocal when we get physical. It was very exciting to caress her skin and hear her tiny intake of breath, knowing that three people might overhear us if we woke them. I kissed her hard while stroking her arms, face, and breasts. She has lovely, large firm tits with big nipples that are very sensitive. She flicked her fingernails across my nipple, and I could barely contain a loud moan. She loves to hear the noises and see the faces I make when she touches me. We were both pushing the other's arousal, forcing each other to hold back our potential outbursts.