A couple of weeks ago my cousin stayed the night at my house. We have been close since we were very young, so it is not unusual for him to stop over every once in a while. We had a good time throughout the day, and stayed up late to watch Saturday Night Live. Since he had to get up early the next morning, we decided to go to bed. When he stays over, we both sleep in sleeping bags on the floor of my room.
We were both tossing and turning for a while, and after I was quiet for a while, and I heard the faint sound of something brushing against the fabric of the sleeping bag. I figured it was his and while he was jacking off, and asked, 'hey, are you...?' He was like, 'yeah sorry I thought you were asleep.' I asked him if I could join him and he said 'why not?' So we got out of our sleeping bags and started beating our meat. We are about the same length, 6', cut and normal thickness. I hadn't jerked off in a few days so it didn't take long for me to reach the point of no return. I grabbed my boxers and shot several gobs of hot cum into them.
It didn't take him long after that, and soon I heard him sigh and let loose with a huge load of sperm. We sank back into our sleeping bags, grinned, and fell asleep. We both slept pretty well that night.