I can get very close to cumming without touching quite often, but I have only had it actually happen once.
My wife and I were out running errands, and she was in a thin tank top braless and a very short (for her) skirt without panties.
We were at a hipster grocery store, so her outfit wasn't at all out of place. I was hard from all the braless women, all the nipples, and knowing my wife was participating and others were looking at her, too.
Then she sat on a bench, and a couple our age walked by and must have seen up her skirt without panties because they stumbled and both their eyes were huge! I quickly imagined them coming home with us and I came in my shorts a little bit.
I told my wife and she said I should have said something to the couple just to see what they would say. Funny enough, the woman of the other couple was the most conservatively dressed in the entire store.
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