Sort of sex-ish
My first wife and I were close with another couple --- let's say the other wife was J and husband was M. There was some flirting going on, but the furthest it went was to give each other's wives fully clothed back rubs. I had seen her breasts while she was nursing, but, while I'll look, I don't think of that as related to sex.
One weekend after I was separated I took my children to spend some time with J and her daughter. After I took my kids back to their mother, J and I went back to her house. M was out of the country on business. She put the daughter to sleep and I started giving her the usual fully clothed back rub.
She then said that she would get into something more comfortable (really!!!). In a few minutes she emerged from her bedroom in what was called then (maybe still?) baby dolls. For those who don't know, baby dolls consist of a top that ends just below the butt, and full panties. When I first saw her, I couldn't tell whether she had the panties on --- she did.
I started on her back. While I did go under her top to go to bare skin, I didn't touch her in any private places. I didn't have any massage oil so I settled for just skin lotion. Finally I got her to turn over. The only no no she gave me was to not massage her abdomen. There were many opportunities to secretly expose sexy parts, but I didn't. I've been kicking myself about that for over 50 years. Her panties did have a tiny hole in them and I was able to see that she had light brown pussy hair.
I leaned in and kissed her on the lips. At first she reacted in surprise but then said it was my reward for the massage. We then engaged in some passionate kisses. While kissing, I reached up and groped her left breast over her bra-less top. She reacted swiftly and it was clear that she felt I had gone too far. She wasn't angry, so we parted on friendly terms.
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