I was staying with my sister Rachel and her husband Matthew at their caravan for a few days. Their bed was at one end of the caravan and I had been sleeping on one of the sofas at the other end. Changing was no problem, none of us were bothered or embarrassed about undressing in front of each other.
I was slightly jealous though, they had each other to cuddle into, and despite being slightly shorter than the average man, Matthew was very nice to look at, with a proper manly hairy chest and nicely shaped muscles, nothing over the top. I had not yet looked at his genitals properly though. I had tried to catch glimpses when I thought they wouldn't notice, but was unsure if I was allowed to look openly, so I chose not to, despite the temptation.
This particular afternoon, Rachel was getting ready to go for a walk. I had no interest in walking that day, and neither did Matthew, so we were staying behind at the caravan. Having woken that morning at my usual time of 4:30, despite not having work, I was now feeling a bit tired. I asked if they minded if I lay down on their bed. They said that was fine, so I took off my shoes and lay on the bed facing the wall, with my back to them. I didn't actually fall properly asleep, I just dozed.
I heard Rachel say goodbye and leave. A few minutes later Matthew climbed on the bed and cuddled into my back, wrapping an arm around my belly. It felt so nice to be cuddled, and to feel his body heat through my t-shirt. I hummed contentedly and we dozed together for a bit.
After a while, I wasn't sure how long we had dozed for, I felt his hand slide from my belly up to my breast and gently caress me. Slightly surprised, I hummed with pleasure and moved my top arm to give him better access. He responded by sliding his hand inside my t-shirt and continuing to caress my braless breasts. I arched my back to push my breast further into his hand. He continued to stroke my breasts, brushing over my nipples and getting me all excited. I reached my hand tentatively back and gently stroked his thigh. When he did not object, I moved my hand slowly upwards searching for his bulge. Upon finding it, I stroked my hand gingerly over the bulge in his trousers, slowly up and down.