When I was younger I was on an graduate teambuilding week. On the last night, after much drinking, four of us, two guys and two girls decided to go for a swim in the nearby lake. We all went to our rooms to get ready and met at the lake. Me and the other guy had put on swimming shorts, one of the girls didn't have a swimming costume so said she was staying in her underwear and the other girl, who was the most drunk, called us a bunch of pussies and whipped everything off.
She was a real beauty, dark haired, brown eyed, olive skinned, C cup breasts and, new information, perky erect nipples and a natural bush (normal at the time). The other girl almost turned me on more as it was very much lingerie she was wearing: white, thong cut, lacy and a nice push-up bra showing off her B cup breasts.
So we all got in the lake and the naked girl was on at us to get naked so both of us blokes did. Then we were messing about and the naked girl was trying to get a piggy back off me. She had no problem rubbing herself against me. I could literally feel her nipples on my back. She then said doesn't it feel great having your willy free and grabbed it; it was semi-hard by this point and that seemed to get her attention and, rather than letting go, she spent a few seconds stroking it, plenty of time for me to get rock hard. I know she had a long-term boyfriend and she seemed to come to her senses, gave me a peck on the back of my neck, a quick squeeze of my ass then swam off, leaving me to 'cool down'.
We stayed friends for many years after but weirdly there was never any sexual tension or guilt, just a few knowing looks.
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