I could say it started when I sent a dick pic to my girlfriend not knowing that her 20-year-old daughter could see her phone. My girlfriend Mary tried to hide the picture but told me later that she was sure her daughter Lauren had seen it. That night I was sure too, because Lauren looked at me differently and kept sneaking glances at my crotch. And when she came downstairs to watch tv with us in her usual tiny shorts and tshirt I could quickly tell that she had skipped both bra and panties.
In retrospect I realize it had been going on for months, since a night we all were watching a movie on the couch and as usual she'd draped her legs over her Moms lap and into mine. I'd been thinking about my plans for her Mom later and was hard as a rock when Lauren's foot accidentally bumped into my cock. She'd apologized and withdrawn it at first only to slowly return it until my shaft was pressed between the sole of her foot and my thigh. Neither of us had acknowledged it but id rested my hand on her calf under the blanket and she had smiled at that.
Now that she'd seen a picture of my bare hard dick, her foot always seemed to be looking for it. Several times she'd slid her toes under my shorts and touched it directly.
Lauren always asked her mom to scratch or rub her skin, and eventually would ask me to as well. I had always tried to keep it non-sexual but as the foot-to-cock encounters became more regular, I allowed my hands to touch her differently.
Finally one night her mom was stuck in a meeting. I'd come over early, and when her mom said she be another two hours at least, Lauren and I decided to watch a movie. We both went upstairs to change. I chose loose shorts with no underwear and a light shirt then headed down to wait for lauren.
A few minutes later I knew I'd have to be careful when she appeared in a white tank top and loose shorts of her own that showed off the curve of her ass. The shirt was thin enough that I could see her hard nipples.
"It's cold" I said, "we'll need a blanket."
She grabbed one and spread it over my legs then stretched her own legs over mine with her thighs across my lap. My hands found her thighs at the same moment her right hand moved below the blanket and rested on my thigh just below my cock, which was already hard and nearly reaching out of my shorts.
As usual she asked me to scratch her and when I asked where she took my hand in her free one and placed it on her inner thigh, halfway up. I spread my fingers open and began to softly scratch and rub her. Almost immediately my thumb felt the fabric of her shorts. I knew her pussy was only inches away so i carefully limited my range of motion. At least, that is, until she said simply "higher."
With that, I started very slowly expanding the amount of her thigh that I touched, moving my hand rhythmically up and down.
On one motion my thumb again touched her shorts. Then the next time I felt her skin under her shorts. Then slightly higher. And higher. I knew I was less than an inch from her pussy when her breathing changed. So I decided to be bold, and instead of another slight increase this time I spread my fingers wide and moved all the up her thigh until my thumb was pressed solidly against her closed pussy lips. I could feel her heat and tell she was wet. I held my hand there briefly before very slowly sliding down again. Before I reached her knee she shifted slightly. I thought she was giving me better access and this was confirmed when on the next upward movement my thumb slid slightly inside her.
I held there only for a moment, then slid hand back down her thigh. Wanting to be sure she was ok, I stopped at her knee then started sliding back up. This time I moved more deliberately and when I reached her hot and wet pussy I slid my thumb in as far as it could reach. My other fingers were pressed against her bottom with my index finger actually resting directly on her tight little ass.
I stopped my hand movements and held my thumb inside her, enjoying her warmth and tightness. I slowly rubbed my index finger on her ass for a moment then decided to be bolder.
